Plate sucker manipulator

Abstract

The invention discloses a plate sucker manipulator, and relates to the technical field of manipulators. Comprising a mounting base; the robot arm is arranged on the mounting seat; the sucker mounting base is horizontally arranged at the end, away from the mounting base, of the robot arm. The multiple clamping jaw assemblies are distributed on the top face of the suction cup mounting base in an array mode. The suction cup assembly is arranged on the bottom face of the suction cup installation base. The clamping jaw assembly comprises a clamping jaw seat movably arranged on the top face of the suction cup installation seat, a clamping air cylinder is arranged on the side wall of the clamping jaw seat, a clamping jaw is arranged on a piston rod of the clamping air cylinder, and an anti-adhesion jaw assembly is arranged at the end, away from the clamping air cylinder, of the clamping jaw. The suction cup assembly comprises a suction cup plate arranged on the bottom face of the suction cup installation base, and the suction cup plate is communicated with a negative pressure mechanism arranged on the installation base through a hose. The method has the advantages that the normal work of subsequent procedures is influenced, and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hand, in particular to a plate suction cup mechanical hand. BACKGROUND

[0002] In the processing of plate, the suction cup type mechanical hand is used to grab the plate and has been used more and more widely. However, in reality, the plates are generally stacked from top to bottom, and the plates are grabbed from the uppermost layer to the lower layer one by one, so that the upper and lower plates are easily adhered to each other in the grabbing process, thereby affecting the subsequent work and the production efficiency; meanwhile, the simple suction cup type plate grabbing is also prone to the phenomenon of plate falling. SUMMARY

[0003] In view of the above technical deficiencies, the present application aims to provide a plate suction cup mechanical hand which can prevent the phenomenon of plate adhesion during grabbing and improve the grabbing efficiency.

[0004] To solve the above technical problems, the present application adopts the following technical scheme: the present application provides a plate suction cup mechanical hand, comprising: a mounting seat; a robot arm, which is arranged on the mounting seat; a suction cup mounting seat, which is horizontally arranged at one end of the robot arm away from the mounting seat; a plurality of jaw assemblies, which are arrayed on the top surface of the suction cup mounting seat; a suction cup assembly, which is arranged on the bottom surface of the suction cup mounting seat; wherein the jaw assembly comprises a jaw seat movably arranged on the top surface of the suction cup mounting seat, a clamping cylinder is arranged on the side wall of the jaw seat, a jaw is arranged on the piston rod of the clamping cylinder, and an anti-adhesion claw assembly is arranged at one end of the jaw away from the clamping cylinder; the suction cup assembly comprises a suction cup plate arranged on the bottom surface of the suction cup mounting seat, and the suction cup plate is connected in communication with a negative pressure mechanism arranged on the mounting seat through a hose.

[0005] Preferably, a plurality of parallel guide grooves are arranged on the top surface of the suction cup mounting seat, and the jaw seats are slidingly arranged in the corresponding guide grooves, so as to adjust the distance between the two jaw seats according to the size of the plate to be grabbed, thereby improving the applicability of the plate suction cup mechanical hand.

[0006] Preferably, the guide grooves are provided with two, the jaw assemblies are provided with four, and one jaw seat is slidingly arranged at each lengthwise end in each guide groove, so as to improve the firmness of the plate clamping by the jaw assemblies after the plate is suctioned.

[0007] Preferably, the suction plate is a hollow structure, the inside of the suction plate is connected to the negative pressure mechanism through a hose, a plurality of grooves are arranged on the suction plate, and a plurality of suction holes are arranged on the end face of the suction plate away from the suction pad mounting seat, which helps to improve the adsorption force on the plate and prevents the plate from falling after being adsorbed.

[0008] Preferably, a double-head cylinder is arranged horizontally in the guide groove, and the two piston rods of the double-head cylinder are connected to the jaw seats at the two ends of the guide groove, so that the distance between the two jaw seats can be adjusted by the double-head cylinder according to the size of the plate to be grabbed, thereby improving the applicability of the plate suction manipulator.

[0009] Preferably, the extension direction of the piston rod of the clamping cylinder is the same as the length direction of the guide groove, so that the position of the jaw seat in the guide groove can be adjusted by the clamping cylinder according to the size of the plate to be grabbed, thereby improving the applicability of the plate suction manipulator.

[0010] Preferably, the anti-sticking claw assembly comprises: a connecting seat movably connected between the bottom surface of the claw and the adjusting rod; an electromagnet arranged at the end of the bottom surface of the claw away from the adjusting rod; a magnetic plate embedded on the connecting seat, and the positions of the electromagnet and the magnetic plate correspond to each other in an up-down manner, and the electromagnet and the magnetic plate are magnetically attracted to each other; a telescopic cylinder arranged on the bottom surface of the connecting seat; an anti-sticking rod arranged on the piston rod of the telescopic cylinder, which prevents the adjacent lower plate from sticking when the upper plate is adsorbed and grabbed.

[0011] Preferably, the adjusting rod comprises: a fixed cylinder arranged on the bottom surface of the claw; an adjusting cylinder coaxial with the fixed cylinder, the adjusting cylinder being fixedly arranged on the connecting seat, and the end of the adjusting cylinder away from the connecting seat being movably inserted into the fixed cylinder; a connecting spring connecting the end of the adjusting cylinder away from the connecting seat and the fixed cylinder, so that when the upper plate is adsorbed and grabbed, the adjusting cylinder slides in the fixed cylinder, and the connecting spring is stretched and lengthened, thereby preventing the adjacent lower plate from sticking.

[0012] Preferably, a vertical clamping surface is arranged on the side wall of the claw close to the suction pad mounting seat, which increases the contact area between the claw and the plate and improves the firmness of clamping the plate.

[0013] Preferably, the extension and retraction direction of the telescopic cylinder piston rod is the same as that of the clamping cylinder piston rod, which facilitates improved clamping stability of the plate.

[0014] The beneficial effects of the present invention are as follows: 1. The anti-adhesion claw assembly provided in the present invention can prevent the adhesion phenomenon from occurring when gripping the board by using the anti-adhesion rod to abut against the multi-layer board below the board being gripped.

[0015] 2. When gripping the board, the suction cup assembly uses negative pressure to adhere to the board, while the grippers hold the side wall of the board, which improves the stability of the gripping and effectively prevents the board from falling. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of a sheet metal suction cup robot provided in an embodiment of the present invention.

[0018] Figure 2 for Figure 1 Enlarged schematic diagram of the structure at point A in the middle.

[0019] Figure 3 This is a schematic diagram of the gripper assembly structure of a sheet metal suction cup robot provided in an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the suction cup plate position of a suction cup robot for sheet metal provided in an embodiment of the present invention.

[0021] Figure 5 This is a schematic diagram of the suction cup plate structure of a sheet metal suction cup robot provided in an embodiment of the present invention.

[0022] Figure 6 This is a schematic diagram of the anti-adhesion claw assembly of a sheet metal suction cup robot provided in an embodiment of the present invention.

[0023] Figure 7 This is a schematic diagram of the structure of a sheet metal suction cup robot when the fixed cylinder and the adjusting cylinder are separated, as provided in an embodiment of the present invention.

[0024] Explanation of reference numerals in the attached drawings: 1. Mounting base; 2. Robot arm; 3. Suction cup mounting base; 31. Guide groove; 32. Double-headed cylinder; 4. Gripper assembly; 41. Gripper seat; 42. Clamping cylinder; 43. Gripper; 431. Vertical clamping surface; 5. Suction cup assembly; 51. Suction cup plate; 511. Groove; 512. Suction hole; 52. Flexible hose; 53. Negative pressure mechanism; 6. Anti-adhesion gripper assembly; 61. Connecting seat; 62. Adjusting rod; 621. Fixing cylinder; 622. Adjusting cylinder; 623. Connecting spring; 63. Electromagnet; 64. Magnetic plate; 65. Telescopic cylinder; 66. Anti-adhesion rod. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Example 1 like Figures 1 to 5 As shown, the present invention provides a suction cup robot for sheet metal, including a mounting base 1; a robot arm 2 mounted on the mounting base 1; a suction cup mounting base 3 horizontally mounted at the end of the robot arm 2 away from the mounting base 1; multiple gripper assemblies 4 are provided, and the multiple gripper assemblies 4 are arrayed on the top surface of the suction cup mounting base 3; a suction cup assembly 5 is mounted on the bottom surface of the suction cup mounting base 3; the gripper assembly 4 includes a gripper seat 41 movably mounted on the top surface of the suction cup mounting base 3, and a clamping cylinder 42 is provided on the side wall of the gripper seat 41, the clamping cylinder 42 being movable... The plunger is equipped with a gripper 43, and the end of the gripper 43 away from the clamping cylinder 42 is equipped with an anti-adhesion gripper assembly 6; the suction cup assembly 5 includes a suction cup plate 51 set on the bottom surface of the suction cup mounting base 3, and the suction cup plate 51 is connected to the negative pressure mechanism 53 set on the mounting base 1 through a hose 52; the suction cup plate 51 has a hollow structure, and the interior of the suction cup plate 51 is connected to the negative pressure mechanism 53 through a hose 52; multiple grooves 511 are arranged in an array on the suction cup plate 51, and multiple suction holes 512 are provided on the end face of the suction cup plate 51 away from the suction cup mounting base 3.

[0027] The mounting base 1 can be installed at the position where the board needs to be clamped. The robot arm 2 can drive the suction cup mounting base 3, the gripper assembly 4 and the suction cup assembly 5 to move closer to the board (the board is stacked in order from top to bottom), so that the board can be adsorbed and clamped by the gripper assembly 4 and the suction cup assembly 5.

[0028] Based on the size of the sheet material, the clamping cylinder 42 is activated to adjust the position of the grippers 43, ensuring that each gripper 43 is located on the outside of the sheet material. Then, the robot arm 2 moves the suction cup assembly 5 towards the top sheet material (the groove 511 on the suction cup plate 51 reduces the overall weight of the suction cup plate 51). When the suction cup plate 51 in the suction cup assembly 5 comes into contact with the top sheet material, the negative pressure mechanism 53 generates negative pressure, which allows the top sheet material to be adsorbed onto the suction cup plate 51 through the suction hole 512. Then, the clamping cylinder 42 is activated to move the adjusting grippers 43 towards the side wall of the top sheet material, thus clamping the side wall of the top sheet material and preventing it from falling off after being adsorbed.

[0029] The anti-adhesion claw assembly 6 is designed to prevent the lower layers of the board from sticking together when the uppermost layer of the board is being clamped.

[0030] The robotic arm 2 is existing technology, which can drive the suction cup mounting base 3 to move in both horizontal and vertical directions, so it will not be described in detail here.

[0031] Example 2 Based on Example 1, such as Figures 1 to 3 As shown, the top surface of the suction cup mounting base 3 is provided with multiple parallel guide grooves 31, and the gripper seat 41 is slidably disposed in the guide groove 31 at the corresponding position; there are two guide grooves 31 and four gripper assemblies 4, and a gripper seat 41 is slidably disposed at both ends of the length direction in each guide groove 31; a double-headed cylinder 32 is horizontally disposed in the guide groove 31, and the two piston rods of the double-headed cylinder 32 are respectively connected to the gripper seats 41 at both ends of the guide groove 31; the extension and retraction direction of the piston rod of the clamping cylinder 42 is the same as the length direction of the guide groove 31.

[0032] Depending on the size of the material to be gripped, the distance between the two gripper seats 41 can be adjusted by activating the double-headed cylinder 32 (the two gripper seats 41 on the same guide groove 31 can slide to adjust the distance), which facilitates the gripper 43 to hold materials of different sizes and improves the applicability of this material suction cup robot.

[0033] The four gripper components 4 are designed to ensure that the material is gripped evenly, improve stability, and prevent the material from falling off during transfer.

[0034] Example 3 Based on Example 1, such as Figure 1 , Figures 4 to 7As shown, the anti-adhesion claw assembly 6 includes a connecting seat 61, which is movably connected to the bottom surface of the gripper 43 via an adjusting rod 62; an electromagnet 63 is disposed on the bottom surface of the gripper 43 away from the adjusting rod 62; a magnetic plate 64 is embedded in the connecting seat 61, and the position of the electromagnet 63 corresponds vertically to the position of the magnetic plate 64, with the electromagnet 63 and the magnetic plate 64 magnetically attracted to each other; a telescopic cylinder 65 is disposed on the bottom surface of the connecting seat 61; an anti-adhesion rod 66 is disposed on the piston rod of the telescopic cylinder 65; the adjusting rod 62 includes a fixed cylinder 621, which is disposed on the bottom surface of the gripper 43; the adjusting cylinder 622 is coaxial with the fixed cylinder 621, and the adjusting cylinder 622 is fixedly disposed on the connecting seat 61, with the end of the adjusting cylinder 622 away from the connecting seat 61 movably inserted into the fixed cylinder 621; the end of the adjusting cylinder 622 away from the connecting seat 61 is connected to the fixed cylinder 621 via a connecting spring 623.

[0035] The extension and retraction direction of the piston rod of the telescopic cylinder 65 is the same as that of the piston rod of the clamping cylinder 42, which helps to improve the clamping stability of the sheet metal.

[0036] When the upper layer of the board is gripped, that is, when the suction cup plate 51 in the suction cup assembly 5 comes into contact with the uppermost board, the clamping cylinder 42 is activated, which moves the adjusting gripper 43 towards the side wall of the uppermost board. The adjusting gripper 43 clamps the uppermost board onto the side wall. At this time, the position of the anti-adhesion rod 66 corresponds to the position of the board below the board gripped by the suction cup plate 51. The telescopic cylinder 65 is activated, which pushes the anti-adhesion rod 66 to come into contact with the multiple layers of boards below the board gripped by the suction cup plate 51. When the robot arm 2 moves the suction cup mounting base 3, the gripper assembly 4, and the suction cup assembly 5 to move the uppermost board upward, the upper and lower boards can be separated. Because the anti-adhesion rod 66 is clamped on the side wall of the multi-layer board, under the action of the weight of the multi-layer board, when the robot arm 2 moves the uppermost board upward, the adjusting cylinder 622 can slide inside the fixed cylinder 621, increasing the length between the adjusting cylinder 622 and the fixed cylinder 621, and simultaneously stretching the connecting spring 623, thus preventing the boards from sticking together. After the uppermost board is adsorbed and picked up, the telescopic cylinder 65 can be activated to retract the anti-adhesion rod 66, separating the anti-adhesion rod 66 from the lower multi-layer board (at the same time, under the action of the resetting connecting spring 623, the adjusting cylinder 622 retracts and slides into the fixed cylinder 621), thus completing the adsorption and picking up of the board.

[0037] The height of the anti-adhesion rod 66 can be made to match the thickness and size of the plates to be clamped, so that the anti-adhesion rod 66 can clamp multiple plates at the same time, thereby preventing the adhesion between the upper and lower plates.

[0038] Example 4 Based on Example 1, such as Figure 3 , Figures 6 to 7 As shown, the gripper 43 has a vertical clamping surface 431 on its side wall near the suction cup mounting base 3. After the clamping cylinder 42 is activated, the adjusting gripper 43 moves towards the side wall of the uppermost plate. The vertical clamping surface 431 on the gripper 43 can then come into contact with the side wall of the plate to be clamped, which helps to increase the contact area between the gripper 43 and the plate, thereby improving the gripping firmness of the gripper 43 on the plate.

[0039] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A suction cup robotic arm for sheet metal, characterized in that, include: Mounting base (1); Robotic arm (2), the robotic arm (2) is mounted on the mounting base (1); The suction cup mounting base (3) is horizontally positioned at the end of the robot arm (2) away from the mounting base (1); The gripper assembly (4) is provided in multiple ways, and the multiple gripper assemblies (4) are arrayed on the top surface of the suction cup mounting base (3); The suction cup assembly (5) is set on the bottom surface of the suction cup mounting base (3); The gripper assembly (4) includes a gripper seat (41) movably disposed on the top surface of the suction cup mounting base (3), a clamping cylinder (42) is disposed on the side wall of the gripper seat (41), a gripper (43) is disposed on the piston rod of the clamping cylinder (42), and an anti-adhesion gripper assembly (6) is disposed at the end of the gripper (43) away from the clamping cylinder (42). The suction cup assembly (5) includes a suction cup plate (51) disposed on the bottom surface of the suction cup mounting base (3), and the suction cup plate (51) is connected to a negative pressure mechanism (53) disposed on the mounting base (1) via a hose (52).

2. The sheet metal suction cup robot as described in claim 1, characterized in that, The suction cup mounting base (3) has multiple parallel guide grooves (31) on its top surface, and the gripper base (41) is slidably positioned in the guide groove (31) at the corresponding position.

3. The sheet metal suction cup robot as described in claim 2, characterized in that, There are two guide grooves (31) and four gripper assemblies (4), and a gripper seat (41) is slidably provided at both ends of the length direction in each guide groove (31).

4. The sheet metal suction cup robot as described in claim 1, characterized in that, The suction cup plate (51) has a hollow structure. The interior of the suction cup plate (51) is connected to the negative pressure mechanism (53) through a flexible tube (52). Multiple slots (511) are arranged in an array on the suction cup plate (51). Multiple suction holes (512) are provided on the end face of the suction cup plate (51) away from the suction cup mounting base (3).

5. The sheet metal suction cup robot as described in claim 3, characterized in that, A double-headed cylinder (32) is horizontally arranged inside the guide groove (31). The two piston rods of the double-headed cylinder (32) are connected to the gripper seats (41) at both ends of the guide groove (31).

6. The sheet metal suction cup robot as described in claim 3, characterized in that, The extension and retraction direction of the piston rod of the clamping cylinder (42) is the same as the length direction of the guide groove (31).

7. The sheet metal suction cup robot as described in claim 1, characterized in that, The anti-adhesion claw assembly (6) includes: Connecting seat (61), the connecting seat (61) is movably connected to the bottom surface of the gripper (43) via adjusting rod (62); An electromagnet (63) is provided at the end of the bottom surface of the gripper (43) away from the adjusting rod (62); A magnetic plate (64) is embedded in a connector (61), and the position of the electromagnet (63) corresponds vertically to the position of the magnetic plate (64). The electromagnet (63) and the magnetic plate (64) are magnetically attracted to each other. Telescopic cylinder (65) is mounted on the bottom surface of connecting seat (61); Anti-adhesion rod (66) is mounted on the piston rod of telescopic cylinder (65).

8. The sheet metal suction cup robot as described in claim 7, characterized in that, The adjusting rod (62) includes: A fixing cylinder (621) is provided on the bottom surface of the gripper (43); Adjusting cylinder (622) is coaxial with fixed cylinder (621). Adjusting cylinder (622) is fixedly mounted on connecting seat (61). One end of adjusting cylinder (622) away from connecting seat (61) is movably inserted into fixed cylinder (621). The connecting spring (623) connects the end of the adjusting cylinder (622) away from the connecting seat (61) to the fixed cylinder (621).

9. A suction cup robot for sheet metal as described in claim 1, characterized in that, The gripper (43) has a vertical gripping surface (431) on the side wall near the suction cup mounting base (3).

10. A suction cup robot for sheet metal as described in claim 7, characterized in that, The extension and retraction direction of the piston rod of the telescopic cylinder (65) is the same as that of the piston rod of the clamping cylinder (42).

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