High-precision automatic plate collecting, releasing and positioning device

Abstract

The invention relates to the technical field of plate collecting, releasing and positioning devices, in particular to a high-precision automatic plate collecting, releasing and positioning device which comprises a first supporting frame plate. A roller type conveyor is installed on the inner side of the first supporting frame plate, side protection baffles are fixedly connected to the two sides of the upper end of the first supporting frame plate, a protection top plate is fixedly connected to the upper ends of the side protection baffles, an automatic grabbing mechanism is installed on the protection top plate, and second supporting frame plates are fixedly connected to the side ends of the side protection baffles. A positioning turnover mechanism is installed on one side in the second supporting frame plate, a reciprocating conveying mechanism is installed at the bottom end in the second supporting frame plate, and a butt joint attaching mechanism is installed at the upper end of the reciprocating conveying mechanism. A plurality of plates can be automatically and accurately grabbed through the automatic grabbing mechanism, the plates can be overturned and attached through the positioning overturning mechanism, meanwhile, adsorption and release can be completed within a short time, and the reciprocating conveying mechanism can drive the butt joint attaching mechanism to move and cooperate with the positioning overturning mechanism to conduct attaching machining.

Description

Technical Field

[0001] The present invention relates to the technical field of plate retracting and positioning devices, and in particular to a high-precision automatic plate retracting and positioning device. Background Art

[0002] Traditional plate retraction and positioning devices mostly use steel structure frames, and the conveying part is mainly belt or roller conveyor. Manual or semi-automatic grasping is generally adopted. The number of grippers is usually 2-4, and only a single plate can be grasped. At the same time, the positioning system mostly relies solely on mechanical blocks or manual calibration, and there is no dynamic feedback system.

[0003] Traditional plate retraction and positioning devices partially rely on manual loading, positioning and flipping, with a single cycle time usually greater than 5s. The plate processing efficiency is low and cannot meet the needs of high-speed production lines. At the same time, it also lacks high-precision displacement detection components and partially relies on manual visual detection of plate position. Error judgment is subjective, resulting in the inability to quickly and accurately position and fit the plates, greatly reducing the overall plate processing speed and yield rate.

[0004] Therefore, in order to solve the problem that the above-mentioned traditional plate retracting and positioning device partially relies on manual loading, positioning and flipping, cannot accurately position and process, and cannot meet the processing requirements of high-speed production lines, a high-precision automatic plate retracting and positioning device can be designed. Summary of the Invention

[0005] In order to overcome the problem that traditional plate retracting and positioning devices partially rely on manual loading, positioning and flipping, cannot accurately position processing, and cannot meet the processing needs of high-speed production lines.

[0006] The technical solution is as follows: A high-precision automatic plate retraction and positioning device comprises a first support frame plate; a roller conveyor is installed on the inner side of the first support frame plate, side protection baffles are fixedly connected to both sides of the upper end of the first support frame plate, a protection top plate is fixedly connected to the upper end of the side protection baffle, an automatic gripping mechanism is installed on the protection top plate, and the side ends of the side protection baffles are fixedly connected to the second support frame plate, a positioning and flipping mechanism is installed on one side of the interior of the second support frame plate, a reciprocating conveying mechanism is installed at the bottom end of the interior of the second support frame plate, a docking and bonding mechanism is installed at the upper end of the reciprocating conveying mechanism, the interior of the positioning and flipping mechanism includes a mounting vertical plate installed on the second support frame plate, a flip motor is installed at the side end of the mounting vertical plate, a flip rod is installed on the outer side of the output shaft of the flip motor, and the flip motor 702 drives the flip rod 703 through a harmonic reducer, and cooperates with the limiter 706 to form a position-speed dual closed-loop positioning to achieve a 180° flip accuracy of ±0.05°.

[0007] The automatic gripping mechanism, positioning and flipping mechanism, and reciprocating conveying mechanism are controlled by multiple axes synchronously through the PLC control system, which can achieve a plate production cycle of less than 1.6s; the plate lamination accuracy is less than ±0.05mm; and the product qualification rate is greater than 99.7%.

[0008] Furthermore, the automatic gripping mechanism includes a protective outer frame plate installed on the upper end of the protective top plate, a first servo motor is installed at one end of the outer side of the protective outer frame plate, a threaded rotating rod is installed at the output end of the first servo motor, and a movable sleeve block is threadedly connected to the outer side of the threaded rotating rod.

[0009] Furthermore, a clamping claw is installed at the lower end of the movable sleeve block, a movable slot is opened through the inside of the protective top plate, and the lower end of the movable sleeve block is connected to the top of the clamping claw through the movable slot. The number of clamping claws is greater than 4, which supports grabbing multiple plates at the same time, and the positioning accuracy of a single claw is ±0.03mm.

[0010] Furthermore, auxiliary support plates are fixedly connected on both sides of the flip rod, a limiter is installed on the side of the flip rod away from the flip motor, the flip rod and the upper end of the auxiliary support plate are fixedly connected with a flip plate, and a transparent protective plate is installed on the upper end of the second support frame plate at the side end where the vertical plate is installed.

[0011] Furthermore, a bonding device is installed on the upper end of the flip plate, a placement cavity is opened inside the bonding device, and a vacuum suction cup is installed at the bottom end of the placement cavity. The vacuum suction cup is made of porous ceramic material, the adsorption force uniformity is ±2%, and the vacuum degree is maintained at -90kPa. The vacuum suction cup is connected to the vacuum pump through an electromagnetic valve, and the adsorption response time is ≤0.3s.

[0012] Furthermore, the reciprocating conveying mechanism includes a protective outer cover plate installed at the bottom end of the second support frame plate, a second servo motor is installed at one end of the outer side of the protective outer cover plate, and an adjusting screw is installed at the output end of the second servo motor.

[0013] Furthermore, the outer side of the adjusting screw rod is connected to a screw rod slider through a thread, a movable block is installed on the upper end of the screw rod slider, and a connecting disk is installed on the upper end of the movable block.

[0014] Furthermore, a hydraulic telescopic rod is installed on the upper end of the connecting plate, a placing table is installed on the output end of the hydraulic telescopic rod, a control cavity is opened inside the placing table, a two-way cylinder is installed inside the control cavity, two sets of splints are installed on the output end of the two-way cylinder, a support rod is fixedly connected to the inner side of the splint, an anti-slip pad is installed on the inner side of the support rod, and a visual sensor is installed inside the control cavity; the visual sensor is communicatively connected to the first servo motor, and is used to detect the position of the plate in real time and feed back to the PLC control system; the friction coefficient of the silicone surface of the anti-slip pad is ≥0.8, and it works synergistically with the splint of the two-way cylinder.

[0015] When the visual sensor detects that the plate displacement deviation is greater than ±0.01mm, the PLC control system automatically adjusts the spacing between the splints with an adjustment accuracy of ±0.02mm, forming a dynamic anti-deviation closed loop to ensure that the conveying displacement deviation is ≤±0.02mm.

[0016] The adjusting screw adopts a ground-grade ball screw with a lead of 5mm and a pitch error of ±5μm. It is matched with a linear guide to achieve a reciprocating positioning accuracy of ±0.01mm.

[0017] The beneficial effects are: the present invention can automatically and accurately grasp multiple pieces of plate through the automatic grasping mechanism, multiple claws operate synchronously, the single grasping amount is increased, and the loading and unloading time is directly shortened. The plate can be flipped and bonded by using the positioning and flipping mechanism, and adsorption and release can be completed in a short time, which is adapted to the high-speed production rhythm. The reciprocating conveying mechanism can drive the docking and bonding mechanism to move, and cooperate with the positioning and flipping mechanism to perform bonding processing. When the plate deviation is detected to be greater than ±0.01mm, the PLC control system automatically adjusts the spacing between the splints to ensure that the conveying displacement deviation is ≤±0.02mm. The automatic grasping mechanism, positioning and flipping mechanism and reciprocating conveying mechanism realize multi-axis synchronous control through the PLC control system, which can achieve a plate production rhythm of less than 1.6s, further improve the product qualification rate, and make the product qualification rate greater than 99.7%. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of the high-precision automatic plate retracting and positioning device of the present invention;

[0019] Figure 2 Schematic diagram of the three-dimensional structure of the transparent protective plate of the present invention;

[0020] Figure 3 This is a schematic diagram of the internal split three-dimensional structure of the protective outer frame plate of the present invention;

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the flip motor of the present invention;

[0022] Figure 5 It is a schematic diagram of the three-dimensional split structure of the flip plate of the present invention;

[0023] Figure 6 Schematic diagram of the three-dimensional structure of the protective outer cover plate of the present invention;

[0024] Figure 7 Schematic diagram of the three-dimensional structure of the adjusting screw rod of the present invention;

[0025] Figure 8 It is a schematic diagram of the internal disassembly structure of the placement table of the present invention.

[0026] In the accompanying drawings: 1, first support frame plate; 2, roller conveyor; 3, side protection baffle; 4, protection top plate; 6, second support frame plate; 501, protection outer frame plate; 502, first servo motor; 503, threaded rotating rod; 504, movable sleeve block; 505, clamping claw; 506, movable through slot; 701, mounting vertical plate; 702, flip motor; 703, flip rod; 704, transparent protection plate; 705, auxiliary support plate; 706 , limiter; 707, flip plate; 708, fitting device; 709, placement cavity; 710, vacuum suction cup; 801, protective outer cover plate; 802, second servo motor; 803, adjustment screw; 804, screw slider; 805, movable block; 806, connecting plate; 807, hydraulic telescopic rod; 808, placement table; 809, control chamber; 810, two-way cylinder; 811, splint; 812, support rod; 813, anti-slip pad. DETAILED DESCRIPTION

[0027] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] like Figures 1-4 As shown, the present invention provides an embodiment: a high-precision plate automatic retraction and positioning device, comprising a first support frame plate 1; a roller conveyor 2 is installed on the inner side of the first support frame plate 1, both sides of the upper end of the first support frame plate 1 are fixedly connected to side protection baffles 3, the upper end of the side protection baffles 3 is fixedly connected to a protection top plate 4, an automatic grabbing mechanism is installed on the protection top plate 4, the side ends of the side protection baffles 3 are fixedly connected to a second support frame plate 6, a positioning and flipping mechanism is installed on one side of the interior of the second support frame plate 6, a reciprocating conveying mechanism is installed on the bottom end of the interior of the second support frame plate 6, and a docking and bonding mechanism is installed on the upper end of the reciprocating conveying mechanism, the positioning and flipping mechanism includes an installation vertical plate 701 installed on the second support frame plate 6, a flip motor 702 is installed on the side end of the installation vertical plate 701, a flip rod 703 is installed on the outer side of the output shaft of the flip motor 702, the flip motor 702 drives the flip rod 703 through a harmonic reducer, and cooperates with a limiter 706 to form a position-speed double closed-loop positioning to achieve 180° flipping accuracy of ±0.05°;

[0029] The automatic gripping mechanism, positioning and flipping mechanism, and reciprocating conveying mechanism are controlled by multiple axes synchronously through the PLC control system, which can achieve a plate production cycle of less than 1.6s; the plate lamination accuracy is less than ±0.05mm; and the product qualification rate is greater than 99.7%.

[0030] The automatic gripping mechanism includes a protective outer frame plate 501 installed on the upper end of the protective top plate 4, a first servo motor 502 is installed on the outer end of the protective outer frame plate 501, a threaded rotating rod 503 is installed on the output end of the first servo motor 502, and a movable sleeve block 504 is threadedly connected to the outer side of the threaded rotating rod 503.

[0031] A clamping claw 505 is installed at the lower end of the movable sleeve block 504, and a movable through slot 506 is opened inside the protective top plate 4, and the lower end of the movable sleeve block 504 passes through the movable through slot 506 and is connected to the top of the clamping claw 505. The number of clamping claws 505 is greater than 4, which supports grabbing multiple pieces of plate at the same time, and the positioning accuracy of a single claw is ±0.03mm.

[0032] Auxiliary support plates 705 are fixedly connected on both sides of the flip rod 703, and a limiter 706 is installed on the side of the flip rod 703 away from the flip motor 702. The upper ends of the flip rod 703 and the auxiliary support plate 705 are fixedly connected with a flip plate 707, and the upper end of the second support frame plate 6 is located on the side end of the installation vertical plate 701 and is installed with a transparent protective plate 704.

[0033] A bonding device 708 is installed at the upper end of the flip plate 707, and a placement cavity 709 is opened inside the bonding device 708. A vacuum suction cup 710 is installed at the bottom end of the placement cavity 709. The vacuum suction cup 710 is made of porous ceramic material, with an adsorption force uniformity of ±2%, and a vacuum degree maintained at -90kPa. The vacuum suction cup 710 is connected to the vacuum pump through an electromagnetic valve, and the adsorption response time is ≤0.3s.

[0034] See also Figure 5-Figure 8 In this embodiment, the reciprocating conveying mechanism includes a protective outer cover plate 801 installed at the bottom end of the second support frame plate 6, a second servo motor 802 is installed at one end of the outer side of the protective outer cover plate 801, and an adjusting screw 803 is installed at the output end of the second servo motor 802.

[0035] The outer side of the adjusting screw rod 803 is threadedly connected to a screw rod slider 804 , the upper end of the screw rod slider 804 is installed with a movable block 805 , and the upper end of the movable block 805 is installed with a connecting disk 806 .

[0036] A hydraulic telescopic rod 807 is mounted on the upper end of the connecting plate 806. A placement platform 808 is mounted on the output end of the hydraulic telescopic rod 807. A control chamber 809 is provided inside the placement platform 808. A bidirectional cylinder 810 is mounted inside the control chamber 809. Two sets of clamping plates 811 are mounted on the output end of the bidirectional cylinder 810. Support rods 812 are fixedly connected to the inner sides of the clamping plates 811. Anti-slip pads 813 are mounted on the inner sides of the support rods 812. A visual sensor is mounted inside the control chamber 809. The visual sensor is in communication with the first servo motor 502 and is used to detect the position of the plate in real time and provide feedback to the PLC control system.

[0037] The friction coefficient of the silicone surface of the anti-slip pad 813 is ≥ 0.8, and it works in conjunction with the clamping plate 811 of the bidirectional cylinder 810;

[0038] When the visual sensor detects that the plate displacement deviation is greater than ±0.01mm, the PLC control system automatically adjusts the spacing between the splints 811 with an adjustment accuracy of ±0.02mm, forming a dynamic anti-deviation closed loop to ensure that the conveying displacement deviation is ≤±0.02mm; the adjustment screw 803 adopts a ground-grade ball screw with a lead of 5mm and a pitch error of ±5μm, and cooperates with the linear guide to achieve a reciprocating positioning accuracy of ±0.01mm.

[0039] The plate to be processed is placed on the roller conveyor 2, and the plate contacts the roller surface and is transported horizontally.

[0040] The side protection baffles 3 and the protection top plate 4 form a semi-enclosed space to prevent lateral deviation or foreign matter from intruding during plate transportation.

[0041] The operator inputs the plate size and laminating process parameters through the human-machine interface on the PLC control system;

[0042] The PLC control system activates each servo motor and initializes the encoder and sensor.

[0043] The first servo motor 502 drives the threaded rotating rod 503 to rotate, and drives the movable sleeve 504 to move laterally along the movable through slot 506 of the protective top plate 4 through the threaded pair, with a positioning accuracy of ±0.03mm.

[0044] When the clamping jaws 505 move to just above the plate, the PLC control system sends a command to stop moving.

[0045] The clamping jaws 505 extend downwards and contact the edge of the plate, and then the clamping jaws 505 close synchronously to grab multiple plates, with a single jaw repeatability accuracy of ±0.03mm.

[0046] The turning motor 702 drives the turning rod 703 to calibrate the initial position through the harmonic reducer, and the limiter 706 sends a zero point signal to the PLC control system.

[0047] The auxiliary support plate 705 enhances the structural rigidity to ensure that there is no deformation during flipping.

[0048] The automatic gripping mechanism moves the plate to above the turning plate 707, and the clamping claw 505 releases the plate.

[0049] The vacuum suction cup 710 of the laminating device 708 is activated and absorbs the plate into the placement cavity 709 within 0.3 seconds. The uniformity of the absorption force is ±2%, which prevents the plate from warping.

[0050] The flip motor 702 receives the instruction from the PLC control system and drives the flip rod 703 to rotate. The limiter 706 monitors the angle in real time to form a position-speed double closed loop.

[0051] During the turnover process, the auxiliary support plate 705 rotates synchronously with the turnover rod 703, ensuring the smooth rotation of the turnover plate 707, and finally achieving a 180° turnover with an accuracy of ±0.05°.

[0052] The second servo motor 802 drives the adjusting screw rod 803 to rotate, and the screw rod slider 804 moves along a straight line to transport.

[0053] Starting the hydraulic telescopic rod 807 can adjust the height of the placing table 808 to align with the lamination device 708 of the turnover plate 707, and use the lamination device 708 for lamination processing.

[0054] The visual sensor shoots the edge of the plate, calculates the displacement deviation, and feeds back the data to the PLC control system in real time.

[0055] If the deviation is > ±0.01mm, the bidirectional air cylinder 810 drives the clamping plate 811 to adjust the distance, and the anti-skid pad 813 assists in fixing, with an adjustment accuracy of ±0.02mm, forming a dynamic anti-deviation closed loop, ensuring that the conveying displacement deviation is ≤±0.02mm.

[0056] The PLC control system coordinates the multi-axis motion of automatic grabbing, turnover, and reciprocating conveying, uses electronic cam algorithm to ensure synchronization accuracy, and compresses the production rhythm to <1.6s.

[0057] Each servo motor feeds back the position in real time through the encoder, forms a closed loop control with the visual sensor and the limit switch 706, and corrects the error in real time.

[0058] After lamination is completed, the visual sensor rechecks the lamination accuracy, and the thickness uniformity can also be detected by the laser thickness gauge.

Claims

1. A high-precision plate automatic retracting and positioning device, characterized in that: The invention comprises a first support frame plate (1); a roller conveyor (2) is installed on the inner side of the first support frame plate (1); both sides of the upper end of the first support frame plate (1) are fixedly connected with side protection baffles (3); the upper ends of the side protection baffles (3) are fixedly connected with a protection top plate (4); an automatic grabbing mechanism is installed on the protection top plate (4); the side ends of the side protection baffles (3) are fixedly connected with a second support frame plate (6); a positioning and flipping mechanism is installed on one side of the interior of the second support frame plate (6); a reciprocating conveying mechanism is installed at the bottom end of the interior of the second support frame plate (6); a docking and fitting mechanism is installed on the upper end of the reciprocating conveying mechanism; the interior of the positioning and flipping mechanism comprises a mounting vertical plate (701) mounted on the second support frame plate (6); a flip motor (702) is installed at the side end of the mounting vertical plate (701); a flip rod (703) is installed on the outer side of the output shaft of the flip motor (702); the automatic grabbing mechanism, the positioning and flipping mechanism and the reciprocating conveying mechanism are controlled synchronously by multiple axes through a PLC control system.

2. A high-precision plate automatic retracting and positioning device according to claim 1, characterized in that: The automatic grabbing mechanism comprises a protective outer frame plate (501) mounted on the upper end of the protective top plate (4), a first servo motor (502) mounted on one outer end of the protective outer frame plate (501), a threaded rotating rod (503) mounted on the output end of the first servo motor (502), and a movable sleeve block (504) threadedly connected to the outer side of the threaded rotating rod (503).

3. The high-precision plate automatic retracting and positioning device according to claim 2, characterized in that: The lower end of the movable sleeve block (504) is provided with a clamping claw (505), and a movable through slot (506) is provided inside the protective top plate (4), and the lower end of the movable sleeve block (504) passes through the movable through slot (506) and is connected to the top end of the clamping claw (505).

4. The high-precision plate automatic retracting and positioning device according to claim 1 is characterized in that: Auxiliary support plates (705) are fixedly connected to both sides of the flip rod (703), a limiter (706) is installed on the side of the flip rod (703) away from the flip motor (702), and a flip plate (707) is fixedly connected to the upper ends of the flip rod (703) and the auxiliary support plate (705). A transparent protective plate (704) is installed on the upper end of the second support frame plate (6) at the side end of the installation vertical plate (701).

5. The high-precision plate automatic retracting and positioning device according to claim 4 is characterized in that: A laminating device (708) is installed at the upper end of the flip plate (707), a placement cavity (709) is opened inside the laminating device (708), a vacuum suction cup (710) is installed at the bottom end of the placement cavity (709), and the vacuum suction cup (710) is made of porous ceramic material.

6. The high-precision plate automatic retracting and positioning device according to claim 2, characterized in that: The reciprocating conveying mechanism includes a protective outer cover plate (801) installed at the bottom end of the second support frame plate (6), a second servo motor (802) is installed at one end outside the protective outer cover plate (801), and an adjusting screw rod (803) is installed at the output end of the second servo motor (802).

7. The high-precision plate automatic retracting and positioning device according to claim 6, characterized in that: The outer side of the adjusting screw rod (803) is threadedly connected to a screw rod slider (804), the upper end of the screw rod slider (804) is installed with a movable block (805), and the upper end of the movable block (805) is installed with a connecting disk (806).

8. The high-precision plate automatic retracting and positioning device according to claim 7, characterized in that: A hydraulic telescopic rod (807) is installed at the upper end of the connecting plate (806), a placing platform (808) is installed at the output end of the hydraulic telescopic rod (807), a control chamber (809) is opened inside the placing platform (808), a two-way cylinder (810) is installed inside the control chamber (809), two sets of clamping plates (811) are installed at the output end of the two-way cylinder (810), a support rod (812) is fixedly connected to the inner side of the clamping plate (811), an anti-slip pad (813) is installed inside the support rod (812), and a visual sensor is installed inside the control chamber (809).

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