Material grabbing device for robot based on automatic sectional material machining

Abstract

The utility model discloses a grabbing device for a robot based on automatic sectional material machining, and relates to the technical field of automatic sectional material production. The device comprises an arm plate and a group of centering mechanisms, side plates are fixed on the rear sides of the two ends of the top of the arm plate, the side plates and the arm plate are vertically distributed, sliding rails are fixed on the inner sides of the side plates, receding areas with the same length as the side plates are arranged at the two ends of the arm plate, each centering mechanism comprises a sliding seat, an air cylinder and a centering plate, and a group of sliding grooves are formed in the outer side of each sliding seat. Through the arrangement of the centering mechanism, the centering plate can be synchronously and oppositely driven to the center of the arm plate, the center of a workpiece is opposite to the center of the arm plate through the centering mechanism before material grabbing, the stability and accuracy when the workpiece enters a station of a machine tool subsequently are ensured, and all clamps in the machine tool can accurately and stably position and clamp profiles conveniently; therefore, the processing efficiency and the processing effect of the profile can be improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of profile automation production, in particular to a robot material grabbing device based on profile automation processing. Background Art

[0002] For the automated production of profiles, the profiles are first cut out through an automatic cutting line, then transferred to the vicinity of a machine tool through a conveyor line. A robot is installed next to the machine tool, and the robot and the gripping device installed on the robot can automatically move the profile workpiece to the workstation of the machine tool.

[0003] The existing gripping device consists of an arm plate and a number of suction cups installed on the arm plate. It grips the profile workpiece by suction. However, when the robot grabs the material on the conveyor line, misalignment may occur, that is, the center point of the robot's grip is not the center of the profile workpiece, which will cause the problem of difficulty in accurate positioning with the machine tool workstation, affecting the accurate and efficient positioning and calibration clamping of the profile by each fixture on the machine tool.

[0004] Therefore, designing a grabbing device that can be centered is a problem that needs to be solved by those skilled in the art. Utility Model Content

[0005] The purpose of the utility model is to provide a robot gripping device based on automated processing of profiles. Through the arrangement of a centering mechanism, the centering plate can be synchronously driven relative to the center of the arm plate. Before gripping the material, the center of the workpiece is aligned with the center of the arm plate through the centering mechanism, thereby ensuring stability and accuracy when the workpiece subsequently enters the machine tool workstation, facilitating accurate and stable positioning and clamping of the profile by various fixtures in the machine tool, thereby improving the processing efficiency and processing effect of the profile.

[0006] In order to solve the above technical problems, the utility model is realized by the following technical solutions:

[0007] The utility model is a material grabbing device for a robot based on profile automated processing, comprising an arm plate and a set of centering mechanisms;

[0008] Side panels are fixed to the rear sides of both ends of the top of the arm panel, the side panels are vertically distributed with the arm panel, a slide rail is fixed to the inner side of the side panels, and both ends of the arm panel are provided with a clearance area of ​​the same length as the side panels;

[0009] The centering mechanism comprises a slide seat, a cylinder and a centering plate;

[0010] A group of slide grooves are arranged on the outside of the slide seat, and the two centering mechanisms are symmetrically arranged on the inner sides of the two side plates through slide rails and slide grooves, and a group of support rings are fixed on the slide seat;

[0011] A group of inner supports are fixed outside the housing of the cylinder, and two inner supports are rotatably arranged in two support rings respectively. One end of the centering plate is fixed on the output end of the cylinder, and the other end of the centering plate is arranged in the clearance area. A rotation driving mechanism is arranged between the inner support away from the centering plate and the slide seat;

[0012] The side plates are linearly provided with a plurality of external openings, the center of the slide seat is provided with an internal opening, and the slide seat is fixed to the side plates via the internal opening, the external opening and a locking member.

[0013] Furthermore, the arm plate is provided with a plurality of suction cup body mounting openings, and a robot arm mounting portion is provided at the center of the arm plate.

[0014] Furthermore, the rotary drive mechanism includes a gear ring and a motor, the gear ring is fixed to the outside of the inner support, the motor is fixed to the slide seat via a mounting seat, and a gear meshing with the gear ring is fixed to the output end of the motor.

[0015] Furthermore, the locking member comprises a screw body, the screw body passes through an inner opening and an outer opening, the inner opening and the outer opening are threadedly connected to the screw body, and a handle is provided at the end of the screw body.

[0016] Furthermore, the outer wall of the inner support is in a circular ring shape, and a bearing or a sleeve is provided between the inner support and the support ring.

[0017] Furthermore, the slide rail is a dovetail-shaped rail or a convex-shaped rail, and both ends of the slide rail are provided with limit stops.

[0018] The utility model has the following beneficial effects:

[0019] 1. The utility model can synchronously drive the centering plate relative to the center of the arm plate through the arrangement of the centering mechanism. Before grabbing the material, the center of the workpiece is aligned with the center of the arm plate through the centering mechanism, ensuring the stability and accuracy when entering the machine tool workstation later, facilitating the precise and stable positioning and clamping of the profile by each fixture in the machine tool, thereby improving the processing efficiency and processing effect of the profile.

[0020] 2. The centering plate of the utility model also has the function of rotating, which makes the centering plate away from the profile before the centering is completed and the material is grabbed, avoiding interference with various parts of the machine tool when entering the machine tool station, and ensuring the stability of the grabbing device during operation and movement.

[0021] 3. The utility model designs the centering mechanism to be movable and arranges a plurality of external openings on the arm plate. Through the design of the internal opening, the external opening and the locking piece on the centering mechanism, the centering mechanism can be divided into a plurality of points and fixed on the arm plate, so as to adapt to the use of profiles of different specifications, have a wide range of applications and facilitate adjustment.

[0022] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 This is a schematic diagram of the structure of a robot material grabbing device based on profile automated processing according to the utility model;

[0025] Figure 2 It is a schematic diagram of the structure of the side plate and the yielding area of ​​the arm plate;

[0026] Figure 3 It is a structural diagram of the centering mechanism;

[0027] Figure 4 It is a structural schematic diagram of the end of the arm plate from a rear side perspective;

[0028] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0029] 1-arm plate, 2-centering mechanism, 3-slide seat, 4-cylinder, 5-centering plate, 6-rotation drive mechanism, 7-locking piece, 101-side plate, 102-slide rail, 103-allowance area, 104-external opening, 105-suction cup body mounting port, 106-robot arm mounting part, 301-slide groove, 302-support ring, 303-internal opening, 401-inner support, 601-gear ring, 602-motor, 603-mounting seat, 604-gear, 701-screw body, 702-handle. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0031] See also Figure 1-4 As shown, the utility model is a material grabbing device for a robot based on profile automated processing, comprising an arm plate 1 and a set of centering mechanisms 2;

[0032] Side panels 101 are fixed to the rear sides of both ends of the top of the arm plate 1. The side panels 101 are vertically distributed with the arm plate 1. Slide rails 102 are fixed to the inner side of the side panels 101. Both ends of the arm plate 1 are provided with a clearance area 103 of the same length as the side panels 101.

[0033] The centering mechanism 2 comprises a slide 3, a cylinder 4 and a centering plate 5;

[0034] A set of slide grooves 301 are provided on the outside of the slide seat 3, and two centering mechanisms 2 are symmetrically arranged on the inside of the two side plates 101 through the slide rails 102 and the slide grooves 301. A set of support rings 302 are fixed on the slide seat 3;

[0035] A group of inner supports 401 are fixed to the outside of the housing of the cylinder 4. The two inner supports 401 are rotatably arranged in the two support rings 302 respectively. One end of the centering plate 5 is fixed to the output end of the cylinder 4. The other end of the centering plate 5 is arranged in the clearance area 103. A rotation drive mechanism 6 is arranged between the inner support 401 away from the centering plate 5 and the slide 3.

[0036] A plurality of outer openings 104 are linearly formed on the side plate 101 , an inner opening 303 is formed at the center of the slide seat 3 , and the slide seat 3 is fixed to the side plate 101 via the inner opening 303 , the outer opening 104 and the locking member 7 .

[0037] Among them Figure 1-2 As shown, a plurality of suction cup body mounting openings 105 are provided on the arm plate 1 , and a robot arm mounting portion 106 is provided at the center of the arm plate 1 .

[0038] Among them Figure 1 and Figure 3-4 As shown, the rotary drive mechanism 6 includes a gear ring 601 and a motor 602 . The gear ring 601 is fixed to the outside of the inner support 401 . The motor 602 is fixed to the slide 3 via a mounting seat 603 . A gear 604 meshing with the gear ring 601 is fixed to the output end of the motor 602 .

[0039] Among them Figure 4 As shown, the locking member 7 includes a screw body 701 , which passes through the inner opening 303 and the outer opening 104 , and the inner opening 303 and the outer opening 104 are threadedly connected to the screw body 701 , and a handle 702 is provided at the end of the screw body 701 .

[0040] Among them Figure 3-4 As shown, the outer wall of the inner support 401 is annular, and a bearing or a sleeve is provided between the inner support 401 and the support ring 302 .

[0041] Among them Figure 2 As shown, the slide rail 102 is a dovetail-shaped rail or a convex-shaped rail, and both ends of the slide rail 102 are provided with limit stops.

[0042] The working principle of the utility model is: the device is moved to the top of the profile by a robot, such as Figure 1 As shown, the arm plate 1 continues to move downward, and at the same time, the cylinder 4 is controlled to contract, driving the two centering plates 5 to move relative to each other. The two centering plates 5 can push the profile so that the center of the profile is flush with the center of the arm plate 1 to achieve centering. After completion, the suction cup body installed on the arm plate 1 is started to absorb the profile, and the cylinder 4 is controlled to reset and rotate ninety degrees or one hundred and eighty degrees through the rotary drive mechanism 6 to make the centering plate 5 deviate from the profile.

[0043] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0044] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A robot material gripping device based on profile automated processing, comprising an arm plate (1), characterized in that: Also included is a set of centering mechanisms (2); Side panels (101) are fixed to the rear sides of both ends of the top of the arm plate (1), the side panels (101) are vertically distributed with the arm plate (1), a slide rail (102) is fixed to the inner side of the side panels (101), and both ends of the arm plate (1) are provided with a clearance area (103) of the same length as the side panels (101); The centering mechanism (2) comprises a slide seat (3), a cylinder (4) and a centering plate (5); A group of slide grooves (301) are provided on the outer side of the slide seat (3); the two centering mechanisms (2) are symmetrically arranged on the inner sides of the two side plates (101) through the slide rails (102) and the slide grooves (301); and a group of support rings (302) are fixed on the slide seat (3); A group of inner supports (401) are fixed to the outside of the housing of the cylinder (4); two inner supports (401) are rotatably arranged in two support rings (302) respectively; one end of the centering plate (5) is fixed to the output end of the cylinder (4); the other end of the centering plate (5) is arranged in the clearance area (103); and a rotation driving mechanism (6) is provided between the inner support (401) away from the centering plate (5) and the slide seat (3); The side plate (101) is linearly provided with a plurality of external openings (104), the center of the slide seat (3) is provided with an internal opening (303), and the slide seat (3) is fixed to the side plate (101) via the internal opening (303), the external opening (104) and the locking member (7).

2. A robot material grabbing device based on profile automated processing according to claim 1, characterized in that: The arm plate (1) is provided with a plurality of suction cup body mounting openings (105), and a robot arm mounting portion (106) is provided at the center of the arm plate (1).

3. The robot material grabbing device based on profile automated processing according to claim 1, characterized in that: The rotary drive mechanism (6) comprises a gear ring (601) and a motor (602); the gear ring (601) is fixed to the outside of the inner support (401); the motor (602) is fixed to the slide seat (3) via a mounting seat (603); and a gear (604) meshing with the gear ring (601) is fixed to the output end of the motor (602).

4. The robot material grabbing device based on profile automated processing according to claim 1, characterized in that: The locking member (7) comprises a screw body (701), wherein the screw body (701) passes through an inner opening (303) and an outer opening (104), wherein the inner opening (303) and the outer opening (104) are threadedly connected to the screw body (701), and a handle (702) is provided at the end of the screw body (701).

5. The robot material grabbing device based on profile automated processing according to claim 1, characterized in that: The outer wall of the inner support (401) is in the shape of a circular ring, and a bearing or a sleeve is provided between the inner support (401) and the support ring (302).

6. The robot material grabbing device based on profile automated processing according to claim 1, characterized in that: The slide rail (102) is a dovetail-shaped rail or a convex-shaped rail, and both ends of the slide rail (102) are provided with limit stops.

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