Plate grabbing mechanism

Abstract

The utility model relates to a plate grabbing mechanism which comprises a machine frame, a lifting mechanism and a lifting frame are arranged on the lower side of the machine frame, a vacuum suction cup is arranged on the lifting frame, swing arms swinging up and down are hinged to the left side and the right side of the machine frame respectively, and fixed transverse plates extending in the front-back direction are arranged on the swing arms. A plurality of L-shaped supporting rods are arranged on the fixed transverse plate at intervals in the front-back direction, a driving mechanism is further arranged on the rack, and the driving mechanism is used for driving the swing arms on the left side and the right side to swing at the same time, so that one ends of the L-shaped supporting rods swing below the vacuum suction cups at the same time or swing outside the two sides of the rack at the same time; a plate is adsorbed through the vacuum suction cups on the lifting frame, after the plate is adsorbed, the swing arms on the two sides are driven by the driving mechanism to swing, one end of the L-shaped supporting rod swings below the vacuum suction cups, and therefore the plate is supported, falling caused by insufficient suction force of the vacuum suction cups is avoided, and the plate grabbing stability is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of plate handling, in particular to a plate grabbing mechanism. Background Art

[0002] In modern manufacturing, sheets are commonly used processing raw materials. Sheets are often stacked layer by layer. During the processing, the sheets need to be constantly changed and loaded and unloaded. During these movements, these products need to be transported.

[0003] For example, the Chinese patent publication number CN215438668U discloses a plate grabbing mechanism, which uses a number of suction cups to complete the adsorption of the plate, facilitates the grabbing and handling of the plate, has strong adaptability, and avoids damage to the plate when grabbing the plate. Another example is the Chinese patent publication number CN105197762A, which discloses an energy-saving adjustable plate grabbing mechanism, which can grab plates of different sizes by adjusting the position of the grabbing suction cup through a moving ring. The mechanism has a larger grabbing range, is easy to adjust, and is convenient to adjust. The crane does not need extra adjustment travel, saves electricity, and the grabbing process is stable, with a simple structure and low cost.

[0004] In the above two prior arts, the plate is adsorbed by a suction cup to achieve grasping. However, the adsorption by the suction cup alone is not stable. If there is a foreign object colliding during grasping, or the adsorption force is insufficient, the plate is easy to fall, thereby damaging the plate and causing harm to the workers in serious cases. Utility Model Content

[0005] The utility model aims to solve one of the problems existing in the existing related technologies at least to a certain extent. To this end, the utility model provides a plate grabbing mechanism.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A plate grabbing mechanism comprises a frame, a lifting mechanism and a lifting frame driven to lift up and down by the lifting mechanism are arranged at the lower side of the frame, a vacuum suction cup is arranged on the lifting frame, swing arms that swing up and down are hinged on the left and right sides of the frame, a fixed horizontal plate extending in the front-to-back direction is arranged on the swing arm, a plurality of L-shaped support rods are arranged at intervals in the front-to-back direction on the fixed horizontal plate, and a driving mechanism is also arranged on the frame, the driving mechanism is used to drive the swing arms on the left and right sides to swing simultaneously, so that one end of the L-shaped support rod swings simultaneously below the vacuum suction cup, or swings simultaneously outside the two sides of the frame.

[0008] In some embodiments, the lifting mechanism and the lifting frame are both arranged in two groups at intervals on the left and right, wherein the lifting mechanism includes a cylinder, and the piston rod of the cylinder is vertically arranged downward and connected to the lifting frame.

[0009] In some embodiments, two first slide grooves extending forward and backward are arranged on the lifting frame at intervals in front and back, a first screw rod is arranged in each of the two first slide grooves, a first nut threadedly connected to the first screw rod and located on the upper and lower sides of the lifting frame, and a vacuum suction cup is arranged at the lower end of each of the first screw rods.

[0010] In some embodiments, a rotating shaft extending in the front-to-back direction is rotatably mounted on both left and right sides of the frame, and a swing arm is provided at both ends of the rotating shaft.

[0011] In some embodiments, the driving mechanism includes a gear disposed on the rotating shaft, a motor is disposed on the frame, a cross bar is disposed on the output shaft of the motor, and slide rails extending along the left and right directions are disposed on the left and right sides of the frame, a rack that can mesh with the gear slides in the slide rail, a connecting rod is hinged at one end of the rack, and the other end of the connecting rod is connected to the cross bar.

[0012] In some embodiments, an extension seat is provided on the outer side of the fixed horizontal plate, a slot is provided on the outer side of the extension seat, through holes are penetrated on the front and rear sides of the extension seat, a second slide slot is provided on the swing arm, and when the swing arm is clamped in the slot, the through hole and the second slide slot are connected, and a second screw rod is passed through the through hole and the second slide slot, and second nuts are threadedly connected at both ends of the second screw rod.

[0013] Compared with the prior art, the beneficial effect of the utility model is that when the plate is grabbed, the lifting frame is driven downward by the lifting mechanism, and the vacuum suction cup on the lifting frame adsorbs the plate. After the plate is adsorbed, the swing arms on both sides are driven by the driving mechanism to swing, so that one end of the L-shaped support rod swings under the vacuum suction cup, thereby supporting the plate to avoid falling due to insufficient suction of the vacuum suction cup, thereby improving the stability of the plate when grabbing. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0015] Figure 2 It is a schematic diagram of the top view structure of the utility model;

[0016] Figure 3 For this utility model Figure 2 A schematic diagram of the cross-sectional structure at AA;

[0017] Figure 4 It is a partial schematic diagram of the utility model;

[0018] Figure 5 For this utility model Figure 1 An enlarged schematic diagram of point A. DETAILED DESCRIPTION

[0019] The following specific implementation contents provide a variety of different embodiments or examples for implementing the utility model. Of course, these are only embodiments or examples and are not intended to be limiting. In addition, repeated reference numerals may be used in different embodiments, such as repeated numbers and / or letters. These repetitions are for the purpose of simply and clearly describing the utility model and do not represent a specific relationship between the different embodiments and / or structures discussed.

[0020] like Figure 1-Figure 5 A plate grasping mechanism shown in the figure includes a frame 1, a lifting mechanism and a lifting frame 2 driven up and down by the lifting mechanism are arranged at the lower side of the frame 1, and a vacuum suction cup 3 is arranged on the lifting frame 2. Of course, the vacuum suction cup 3 is connected to the air compressor through an air pipe. The air compressor draws out the air in the vacuum suction cup 3 through the air pipe to form a vacuum, thereby sucking up the plate.

[0021] On both sides of the left and right sides of the frame 1, there are hinged swing arms 4 that swing up and down, and on the swing arms 4, there is a fixed horizontal plate 5 extending in the front-to-back direction, and on the fixed horizontal plate 5, there are a plurality of L-shaped struts 6 arranged at intervals in the front-to-back direction. A driving mechanism is also provided on the frame 1, and the driving mechanism is used to drive the swing arms 4 on the left and right sides to swing simultaneously, so that one end of the L-shaped strut 6 swings simultaneously below the vacuum suction cup 3, or swings simultaneously outside the two sides of the frame 1.

[0022] In the utility model, when the plate 10 is grasped, the lifting frame 2 is driven to move downward by the lifting mechanism, and the vacuum suction cup 3 on the lifting frame 2 adsorbs the plate 10. After the plate 10 is adsorbed, the swing arms 4 on both sides are driven by the driving mechanism to swing, so that one end of the L-shaped support rod 6 swings under the vacuum suction cup 3, thereby supporting the plate 10 to avoid falling due to insufficient suction of the vacuum suction cup 3, thereby improving the stability of the plate when grasping.

[0023] Of course, the frame 1 can be fixed on a mobile device such as a robot.

[0024] Furthermore, the lifting mechanism and the lifting frame 2 are both arranged in two groups at intervals on the left and right, wherein the lifting mechanism includes a cylinder 21, a piston rod of the cylinder 21 is vertically arranged downward and connected to the lifting frame 2, and the lifting frame 2 is driven to move up and down through the operation of the cylinder 21.

[0025] See also Figure 2 , Figure 4As shown, there are two first slide grooves 31 extending forward and backward at intervals on the lifting frame 2, and a first screw rod 32 is provided in each of the two first slide grooves 31. A first nut 33 is threadedly connected on the first screw rod 32 and located on the upper and lower sides of the lifting frame 2, and a vacuum suction cup 3 is provided at the lower end of each first screw rod 32, so that the position of the vacuum suction cup 3 can be adjusted by sliding the first screw rod 32 in the first slide groove 31. After the adjustment is completed, the first nuts 33 at both ends can be tightened to fix the first screw 32 and the vacuum suction cup 3.

[0026] See also Figure 1-Figure 4 As shown, a rotating shaft 41 extending in the front-rear direction is rotatably mounted on both the left and right sides of the frame 1 , and a swing arm 4 is provided at both ends of the rotating shaft 41 .

[0027] Furthermore, the driving mechanism includes a gear 50 arranged on the rotating shaft 41, a motor 51 is arranged on the frame 1, a cross bar 52 is arranged on the output shaft of the motor 51, and slide rails 53 extending along the left and right directions are arranged on the left and right sides of the frame 1. A rack 54 that can mesh with the gear 50 slides in the slide rail 53, and a connecting rod 55 is hinged at one end of the rack 54, and the other end of the connecting rod 55 is connected to the cross bar 52.

[0028] When the driving mechanism is working, Figure 4 In the initial state, the frame 1 is moved downward by the robot. After moving to the appropriate position, the cylinder 21 works to drive the lifting frame 2 to move downward, and the vacuum suction cup 3 adsorbs the plate 10. After the plate 10 is adsorbed, the frame 1 is moved upward by the robot. At the same time, the motor 51 works to drive the cross bar 52 to rotate. Under the action of the connecting rod 55, the rack 54 is pulled to move outward. The rack 54 moves and meshes with the gear 50 at the same time, thereby driving the rotating shaft 41 to rotate. The rotating shaft 41 drives the swing arm 4 to swing downward, so that one end of the L-shaped support rod 6 swings below the vacuum suction cup 3 (such as Figure 1 As shown), it is used to support the plate 10 to prevent it from falling due to insufficient suction of the vacuum suction cup 3, thereby improving the stability of the plate when grasping.

[0029] See also Figure 5As shown, an extension seat 61 is provided on the outer side of the fixed cross plate 5, a slot 62 is provided on the outer side of the extension seat 61, through holes are penetrated on the front and rear sides of the extension seat 61, and a second slide groove 64 is provided on the swing arm 4. When the swing arm 4 is clamped in the slot 62, the through hole is connected to the second slide groove 64, and a second screw rod 65 is passed through the through hole and the second slide groove 64, and second nuts 66 are threadedly connected at both ends of the second screw rod 65, so that the position of the fixed cross plate 5 relative to the swing arm 4 can be adjusted, so that the L-shaped support rod 6 can be better supported on the lower end of the plate 10, and can adapt to the support work of plates 10 with different thicknesses.

[0030] Combined with the drawings and the above display and description of the basic principles and main features of the utility model and the advantages of the utility model, the technical personnel in the industry should understand that the utility model is not limited to the above embodiments, and the above embodiments and descriptions are only to illustrate the principles of the utility model. Without departing from the spirit and scope of the utility model, the utility model will have various changes and improvements, and these changes and improvements fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. A plate grabbing mechanism, characterized in that: The invention comprises a frame (1), a lifting mechanism and a lifting frame (2) driven by the lifting mechanism to lift up and down are arranged at the lower side of the frame (1), a vacuum suction cup (3) is arranged on the lifting frame (2), swing arms (4) that swing up and down are hinged on the left and right sides of the frame (1), a fixed horizontal plate (5) extending in the front-to-back direction is arranged on the swing arm (4), a plurality of L-shaped support rods (6) are arranged at intervals in the front-to-back direction on the fixed horizontal plate (5), and a driving mechanism is also arranged on the frame (1), the driving mechanism is used to drive the swing arms (4) on the left and right sides to swing simultaneously, so that one end of the L-shaped support rod (6) swings simultaneously below the vacuum suction cup (3), or swings simultaneously outside the two sides of the frame (1).

2. A plate grabbing mechanism according to claim 1, characterized in that: The lifting mechanism and the lifting frame (2) are both arranged in two groups at intervals on the left and right, wherein the lifting mechanism comprises a cylinder (21), the piston rod of the cylinder (21) is arranged vertically downward and connected to the lifting frame (2).

3. A plate grabbing mechanism according to claim 1, characterized in that: Two first slide grooves (31) extending forward and backward are arranged on the lifting frame (2) at intervals in front and back, and a first screw rod (32) is arranged in each of the two first slide grooves (31). A first nut (33) is threadedly connected to the first screw rod (32) and is located on both upper and lower sides of the lifting frame (2). A vacuum suction cup (3) is arranged at the lower end of each of the first screw rods (32).

4. A plate grabbing mechanism according to claim 1, characterized in that: A rotating shaft (41) extending in the front-rear direction is rotatably mounted on both left and right sides of the frame (1), and swing arms (4) are arranged at both ends of the rotating shaft (41).

5. A plate grabbing mechanism according to claim 4, characterized in that: The driving mechanism comprises a gear (50) arranged on the rotating shaft (41); a motor (51) is arranged on the frame (1); a crossbar (52) is arranged on the output shaft of the motor (51); slide rails (53) extending in the left and right directions are arranged on both the left and right sides of the frame (1); a rack (54) capable of meshing with the gear (50) slides in the slide rail (53); a connecting rod (55) is hinged at one end of the rack (54); and the other end of the connecting rod (55) is connected to the crossbar (52).

6. A plate grabbing mechanism according to claim 1, characterized in that: An extension seat (61) is arranged on the outside of the fixed horizontal plate (5), a slot (62) is arranged outside the extension seat (61), through holes are passed through the front and rear sides of the extension seat (61), a second slide groove (64) is arranged on the swing arm (4), when the swing arm (4) is clamped in the slot (62), the through hole and the second slide groove (64) are connected, and a second screw rod (65) is passed through the through hole and the second slide groove (64), and second nuts (66) are threadedly connected at both ends of the second screw rod (65).

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