Sheet-shaped raw material grabbing manipulator

Abstract

The utility model discloses a flaky raw material grabbing manipulator which comprises a multi-shaft mechanical arm, a connecting main shaft is arranged at the executing end of the multi-shaft mechanical arm, the connecting main shaft is connected with an annular wheel disc, a plurality of first radial cantilevers are connected to the periphery of the annular wheel disc, and a transverse rod is arranged at the end, away from the annular wheel disc, of each first radial cantilever. Detachable material taking assemblies are connected to the lower portions of the two ends of the transverse rod correspondingly. Second radial cantilevers are further arranged at the positions, between the adjacent first radial cantilevers, of the periphery of the annular wheel disc, and the material taking assemblies are further arranged below the ends of the second radial cantilevers. According to the mechanical arm, the multiple material taking assemblies are arranged in the peripheral direction of the annular wheel disc, so that the grabbing mechanical arm can cover a large material taking range so as to grab sheet-shaped raw materials with the large area, the sheet-shaped raw material feeding efficiency and the feeding effect are improved, and it is ensured that the sheet-shaped raw materials can fall on a mold pressing mold in a flatly-laid and unfolded state.

Description

Technical Field

[0001] The utility model relates to the technical field of concrete formwork production, in particular to a sheet material grabbing manipulator. Background Art

[0002] A concrete formwork is a mold for pouring concrete. Concrete formwork is usually formed by injection molding or compression molding of plastic or composite materials. Sheet raw materials are used in its production process. The sheet raw materials are cut into designed sizes and then baked. The baked sheet raw materials are transferred to a molding machine for compression molding.

[0003] Since the sheet material has a certain size and is in an unfolded state, it needs to be kept flat during the transfer process, and the general gripping robot cannot meet the grasping requirements. In addition, the sheet material is hard before baking and soft after baking. The sheet material in both states needs to be grasped by the robot. Summary of the invention

[0004] The utility model aims to provide a sheet material grabbing manipulator in view of the problems existing in the prior art.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A sheet material grabbing robot comprises a multi-axis robot arm, an execution end of the multi-axis robot arm is provided with a connecting spindle, the connecting spindle is connected to an annular wheel disk, the outer periphery of the annular wheel disk is connected to a plurality of first radial cantilevers, the first radial cantilever is provided with a cross bar at one end away from the annular wheel disk, and detachable material picking assemblies are respectively connected below the two ends of the cross bar; a second radial cantilever is also provided on the outer periphery of the annular wheel disk between adjacent first radial cantilevers, and the material picking assembly is also provided below the end of the second radial cantilever.

[0007] The sheet material grabbing robot can cover a larger material grabbing range by arranging a plurality of the material grabbing components on the outer circumference of the annular wheel disc, so as to grab sheet material with a larger area and transfer it to the molding station, thereby improving the efficiency and effect of feeding the sheet material, ensuring that the sheet material can fall on the molding die in a flat state, which is conducive to its rapid molding.

[0008] The annular wheel can circumferentially connect a plurality of the first radial cantilevers and the second radial cantilever to increase its operating range. In conjunction with the arrangement of the cross bar, the material picking assembly can be arranged at multiple points. Compared with the original gripper connected to the main shaft of the robot arm, the arrangement of the present application allows the circumferentially arranged material picking assembly to form picking points around the sheet material, so that the sheet material unfolded into a flat state can be grasped. The sheet material will not fold during the transfer process, and will not produce large-scale deformation, and can basically remain in the unfolded state when transferred.

[0009] Furthermore, the material picking assembly is a clamping claw structure for grabbing soft flaky raw materials, and the clamping claw structure includes a finger cylinder connected to the bottom of the cross bar or the second radial cantilever, and a pair of clamping claws connected to the finger cylinder.

[0010] Furthermore, the picking end of the clamp is covered with a rubber sleeve or a silicone sleeve, which can prevent the sheet material from being damaged by clamping.

[0011] Furthermore, the material picking component is a suction cup structure for grabbing hard flaky raw materials, and the suction cup structure includes an adsorption main tube connected to below the cross bar or the second radial cantilever, and a vacuum suction cup is provided below the adsorption main tube.

[0012] Furthermore, a connecting rod is provided at the end of the cross bar or the second radial cantilever, respectively, and a flange is provided below the connecting rod, and the flange is used to connect the material taking assembly.

[0013] Furthermore, one end of the first radial cantilever and the second radial cantilever are respectively fixed to the edge of the annular wheel disc by a plurality of bolts, and the cross bar is arranged perpendicular to the first radial cantilever and connected to the first radial cantilever in the middle by a plurality of bolts.

[0014] Furthermore, the first radial cantilever and the second radial cantilever are telescopic rods, respectively, and the telescopic rods are pneumatic telescopic rods, electric push rods or manual telescopic rods; and the cross bar is a double-headed telescopic rod structure, so that the lengths of these rods can be adjusted.

[0015] Furthermore, the annular wheel disc includes a connecting disc arranged in the middle, the connecting disc is connected to the connecting main shaft, the outer periphery of the connecting disc is connected to an outer ring disc through a plurality of radial spokes, and the outer ring disc connects the first radial cantilever and the second radial cantilever.

[0016] Compared with the prior art, the beneficial effects of the utility model are as follows: 1. The sheet material grabbing manipulator can cover a larger material grabbing range by arranging a plurality of the material grabbing components on the outer circumference of the annular wheel disc, so as to grab sheet materials with a larger area and transfer them to the molding station, thereby improving the efficiency and effect of loading sheet materials, ensuring that the sheet materials can fall on the molding die in a flat state, which is conducive to their rapid molding; 2. The arrangement of the present application can form picking points around the sheet materials, so that the sheet materials can be grabbed and spread out. The sheet material opened into a flat state will not fold during the transfer process, and will not produce large-scale deformation, and can basically maintain the unfolded state when being transferred; 3. By transferring the sheet material in this way, even when facing the multi-angle movement of the multi-axis robot arm, the annular wheel rack is in an inclined or even vertical state, the sheet material will not be folded or gathered, and will not produce a large number of wrinkles, so that it can fully enjoy the flexibility brought by the multi-axis robot arm transfer; 4. This robot can grab both soft sheet materials and hard sheet materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of a sheet material grabbing manipulator of the utility model;

[0018] Figure 2 This is a schematic diagram of the top view of the annular wheel disc of a sheet material grabbing manipulator of the utility model;

[0019] Figure 3 A schematic diagram of a gripper structure of the utility model grabbing manipulator;

[0020] Figure 4 A schematic diagram of a suction cup structure of the grabbing manipulator of the utility model;

[0021] Figure 5 This is a schematic diagram of another arrangement structure of the annular wheel of the utility model;

[0022] In the figure: 1. multi-axis robot arm; 2. connecting spindle; 3. annular wheel; 301. connecting disk; 302. radial spoke; 303. outer ring disk; 4. first radial cantilever; 5. cross bar; 6. material picking assembly; 7. second radial cantilever; 8. connecting rod; 9. flange; 10. finger cylinder; 11. clamping claw; 12. rubber sleeve; 13. adsorption main tube; 14. vacuum suction cup. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the utility model to clearly and completely describe the technical solution 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 in 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.

[0024] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "middle", "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0025] Embodiment 1:

[0026] like Figure 1 and Figure 2 As shown, a sheet material grasping robot comprises a multi-axis robot arm 1, the execution end of the multi-axis robot arm 1 is provided with a connecting spindle 2, the connecting spindle 2 is connected to an annular wheel disc 3, the outer periphery of the annular wheel disc 3 is connected to a plurality of first radial cantilevers 4, the first radial cantilever 4 is provided with a cross bar 5 at one end away from the annular wheel disc, and detachable material picking assemblies 6 are respectively connected below the two ends of the cross bar 5; the outer periphery of the annular wheel disc 3 is also provided with a second radial cantilever 7 between adjacent first radial cantilevers 4, and the material picking assembly 6 is also provided below the end of the second radial cantilever 7.

[0027] The sheet material grabbing robot can cover a larger material grabbing range by arranging a plurality of the material grabbing components 6 on the outer circumference of the annular wheel 3, so as to grab sheet raw materials with a larger area and transfer them to the molding station, thereby improving the efficiency and effect of feeding the sheet raw materials, ensuring that the sheet raw materials can fall on the molding mold in a flat state, which is conducive to its rapid molding.

[0028] The annular wheel 3 can circumferentially connect a plurality of the first radial cantilevers 4 and the second radial cantilever 7 to increase its operating range. In conjunction with the arrangement of the cross bar, the material picking assembly 6 can be arranged at multiple points. Compared with the original gripper connected to the main shaft of the robot arm, the arrangement of the present application allows the circumferentially arranged material picking assembly to form picking points around the sheet material, so that the sheet material unfolded into a flat state can be grasped. The sheet material will not fold during the transfer process, and will not produce large-scale deformation, and can basically remain in the unfolded state when transferred.

[0029] By transferring the sheet material in this way, even when the multi-axis robot arm 1 moves at multiple angles and the annular wheel disc 3 is in an inclined or even vertical state, the sheet material will not be folded or gathered, and will not produce a large number of wrinkles, so that the sheet material can fully enjoy the flexibility brought by the multi-axis robot arm transfer. The multi-axis robot arm can directly select a mature product available on the market.

[0030] In some situations, such as Figure 3 As shown, the material picking assembly 6 is a clamping claw structure for grabbing soft flaky raw materials. The clamping claw structure includes a finger cylinder 10 connected below the cross bar 5 or the second radial cantilever 7 , and a pair of clamping claws 11 connected to the finger cylinder 10 .

[0031] When the material taking component is a clamping claw structure, the clamping claw 11 can be used to grab the sheet material in a soft state; the finger cylinder 10 can control the opening and closing of a pair of the clamping claws, and has a flexible clamping function.

[0032] Furthermore, the picking end of the clamping jaw 11 is covered with a rubber sleeve 12 or a silicone sleeve. This arrangement allows the clamping jaw 11 to flexibly contact the sheet material to prevent the clamping jaw 11 from scratching the sheet material, while also increasing friction and having an anti-slip effect.

[0033] In some situations, such as Figure 4 As shown, the material picking component 6 is a suction cup structure for grabbing hard flaky raw materials. The suction cup structure includes an adsorption main tube 13 connected to the bottom of the cross bar 5 or the second radial cantilever 7, and a vacuum suction cup 14 is provided below the adsorption main tube 13.

[0034] Since the sheet material is still in a hard state, this state is not suitable for the clamping claw to pick up, and the hard sheet material can be easily sucked by the vacuum suction cup 14. The suction cup structure can also be a mature product available on the market.

[0035] Multiple grasping robots will be arranged on the concrete formwork production line. A robot with a suction cup structure will be arranged between the cutting station and the baking station to transfer the sheet materials cut by the cutting station to the baking station. The baking station softens the sheet materials by heating, and the softened sheet materials will be transferred by the robot with a clamping structure arranged between the baking station and the molding station.

[0036] In this embodiment, there are four first radial cantilevers 4 and four second radial cantilever 7. The first radial cantilever 4 is arranged at 90 degrees, and the second radial cantilever 7 is arranged on the angular bisector of the adjacent first radial cantilever 4, and the length of the second radial cantilever 7 is longer than that of the first radial cantilever 4. Through such an arrangement, the manipulator can better grasp rectangular or square sheet materials, the material picking assembly 6 under the cross bar 5 can grasp in the direction of the side length, and the second radial cantilever can extend to the diagonal position for grasping.

[0037] Furthermore, a connecting rod 8 is provided at the end of the cross bar 5 or the second radial cantilever 7, and a flange 9 is provided below the connecting rod 8. The flange 9 is used to connect the material taking assembly 6 to facilitate connection and disassembly.

[0038] By setting the connecting rod 8 and the flange 9, the material taking assembly 6 can be detachably connected, and no matter it is a clamping claw structure or a suction cup structure, it can be connected under the cross bar 5 or the second radial cantilever 7, and it is also highly versatile.

[0039] Furthermore, one end of the first radial cantilever 4 and the second radial cantilever 7 are respectively fixed to the edge of the annular wheel disc 3 by a plurality of bolts, and the cross bar 5 is arranged perpendicular to the first radial cantilever 4 and connected to the first radial cantilever 4 in the middle by a plurality of bolts.

[0040] Furthermore, the first radial cantilever 4 and the second radial cantilever 7 are telescopic rods, which are pneumatic telescopic rods, electric push rods or manual telescopic rods; the cross bar 5 is a double-headed telescopic rod structure, that is, it is telescopic from both ends of the cross bar. Through the setting of the telescopic structure, the lengths of the telescopic first radial cantilever 4, the second radial cantilever 7 and the cross bar 5 can be adjusted, so that the manipulator can grab sheet materials of different sizes and has a wider range of applications.

[0041] Furthermore, the annular wheel disc 3 includes a connecting disc 301 arranged in the middle, the connecting disc 301 is connected to the connecting main shaft 2, the outer periphery of the connecting disc 301 is connected to an outer ring disc 303 through a plurality of radial spokes 302, and the outer ring disc 303 connects the first radial cantilever 4 and the second radial cantilever 7.

[0042] Embodiment 2:

[0043] The difference between this embodiment and the first embodiment is that another arrangement structure of the radial cantilever is provided.

[0044] like Figure 5 As shown, there are four first radial cantilevers 4 and four second radial cantilever 7, the first radial cantilevers 4 are arranged at 90 degrees, the second radial cantilever 7 is arranged on the angular bisector of the adjacent first radial cantilever 4, and the length of the second radial cantilever 7 is equivalent to the length of the first radial cantilever 4. Through such an arrangement, the manipulator can better grasp the circular sheet raw materials, and the cross bar and the material picking components under the second radial cantilever can grasp the sheet raw materials along the edge of the circumference.

[0045] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A sheet material grabbing robot, comprising a multi-axis robot arm, characterized in that: The execution end of the multi-axis robot arm is provided with a connecting spindle, the connecting spindle is connected to an annular wheel disk, the outer periphery of the annular wheel disk is connected to a plurality of first radial cantilevers, the end of the first radial cantilever away from the annular wheel disk is provided with a cross bar, and detachable material picking assemblies are respectively connected below the two ends of the cross bar; the outer periphery of the annular wheel disk is also provided with a second radial cantilever between adjacent first radial cantilevers, and the material picking assembly is also provided below the end of the second radial cantilever.

2. The sheet material grabbing robot according to claim 1, characterized in that: The material taking component is a clamping claw structure for grabbing soft flaky raw materials. The clamping claw structure comprises a finger cylinder connected below the cross bar or the second radial cantilever, and a pair of clamping claws connected to the finger cylinder.

3. The sheet material grabbing robot according to claim 2, characterized in that: The picking end of the clamping claw is covered with a rubber sleeve or a silicone sleeve.

4. The sheet material grabbing robot according to claim 1, characterized in that: The material picking assembly is a suction cup structure for grabbing hard flaky raw materials. The suction cup structure includes an adsorption main body tube connected to the bottom of the cross bar or the second radial cantilever, and a vacuum suction cup is provided below the adsorption main body tube.

5. The sheet material grabbing robot according to claim 1, characterized in that: A connecting rod is respectively disposed at the end of the cross bar or the second radial cantilever, and a flange is disposed below the connecting rod, and the flange is used to connect the material taking assembly.

6. The sheet material grabbing robot according to claim 1, characterized in that: One end of the first radial cantilever and the second radial cantilever are respectively fixed to the edge of the annular wheel disc by a plurality of bolts, and the cross bar is arranged perpendicular to the first radial cantilever and connected to the first radial cantilever by a plurality of bolts in the middle.

7. The sheet material grabbing robot according to claim 1, characterized in that: The first radial cantilever and the second radial cantilever are telescopic rods respectively, and the telescopic rods are pneumatic telescopic rods, electric push rods or manual telescopic rods; the cross bar is a double-headed telescopic rod structure.

8. The sheet material grabbing robot according to claim 1, characterized in that: The annular wheel disc includes a connecting disc arranged in the middle, the connecting disc is connected to the connecting main shaft, the outer periphery of the connecting disc is connected to an outer ring disc through a plurality of radial spokes, and the outer ring disc is connected to the first radial cantilever and the second radial cantilever.

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