Manipulator head cutting machine with auxiliary positioning and feeding functions

Abstract

The utility model belongs to the technical field of metal cutting machining tools, and particularly relates to a manipulator head cutting machine with an auxiliary positioning feeding function, which comprises a magnetic sucker and an overturning arm, the magnetic sucker attracts a wire mesh sheet through magnetic attraction, the magnetic sucker is fixedly connected with the overturning arm, the overturning arm is connected with a driving mechanism, and the driving mechanism is connected with the magnetic sucker. The driving mechanism drives the overturning arm and the magnetic suction cup to overturn, an adjusting groove used for adjusting the posture of the wire gauze piece is formed in the magnetic suction cup, the shape of the adjusting groove is matched with the outer contour of the wire gauze piece, the adjusting groove has a gradient, and a slope with a wide groove opening and a narrow groove bottom is formed on the inner surface of the adjusting groove. Stacked wire gauze pieces are separated one by one through the magnetic disc to be grabbed by the mechanical arm, it is guaranteed that only one wire gauze piece is grabbed by the mechanical arm each time, when the magnetic disc adsorbs the wire gauze pieces, the postures of the wire gauze pieces are adjusted through the adjusting grooves, and the consistency of the angles and the positions of the wire gauze pieces to be grabbed is guaranteed before the mechanical arm grabs the wire gauze pieces; and re-adjustment before head cutting of the iron wire mesh is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of metal cutting tooling, and in particular relates to a manipulator head cutting machine with auxiliary positioning and feeding. Background Art

[0002] Wire mesh is widely used in petroleum, hardware, chemical industry, construction, machinery and other fields. According to the production process of wire mesh, it can be divided into weaving type, spot welding type, cutting and pulling type, stamping type, etc. Among them, spot welding type production process is the most common. Before spot welding, the wire should be arranged in the wire frame, and the excess ends of the wire should be removed after spot welding. When the wire mesh is fed by the manipulator and sent to the cutting station for cutting, there are the following problems: First, the manipulator grabs the wire mesh at a fixed position and angle for feeding, and the placement of the wire mesh does not affect the grasping of the manipulator. The angle of the wire mesh is tilted before the manipulator grabs it. The manipulator cannot align the wire mesh when grabbing it. When the manipulator clamps the wire mesh for cutting, the tilt angle of the wire mesh will affect the cutting accuracy. Ordinary manipulators have low accuracy, no visual system, and cannot self-adjust. In the existing process, before the wire mesh is sent to the head cutting station, the robot is released, and after the angle and position of the wire mesh are manually adjusted, the robot re-grasps the wire mesh and sends it to the head cutting station. This method can ensure cutting accuracy, but the processing rhythm is slow and the efficiency is low. Second, because the wire mesh is stacked, the wire mesh is relatively thin and has a hollow structure, the robot has low accuracy and often grabs more than one wire mesh at the same time, disrupting the processing rhythm and affecting the head cutting operation. Summary of the invention

[0003] In view of the defects of the prior art mentioned above, the purpose of the utility model is to provide a manipulator head cutting machine with auxiliary positioning and feeding, which can adjust and correct the posture of the wire mesh before the manipulator grabs the wire mesh.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a manipulator head cutting machine with auxiliary positioning and loading, including a magnetic suction cup and a flip arm, the magnetic suction cup adsorbs the wire mesh by magnetic attraction, the magnetic suction cup is fixedly connected to the flip arm, the flip arm is connected to a driving mechanism, the driving mechanism drives the flip arm and the magnetic suction cup to flip, an adjustment groove for adjusting the posture of the wire mesh is formed on the magnetic suction cup, the shape of the adjustment groove is adapted to the outer contour of the wire mesh, the adjustment groove has a slope, and the inner surface of the adjustment groove forms a slope with a wide groove mouth and a narrow groove bottom.

[0005] Furthermore, a number of wire mesh pieces waiting to be loaded are stacked on a storage table, and a lifting device for controlling the lifting of the storage table is provided under the storage table; the magnetic suction cup is flipped to the top of the storage table by a flip arm, and the adjustment groove of the magnetic suction cup is facing downward to absorb the wire mesh piece located at the top of the storage table, and the magnetic suction cup is flipped to the loading station by the flip arm, and the adjustment groove of the magnetic suction cup is facing upward to absorb a wire mesh piece, and the robot grabs the wire mesh piece from the magnetic suction cup at the loading station.

[0006] Furthermore, a plurality of magnetic points formed by magnets are arranged at the bottom of the adjustment groove, and the magnetic suction cup absorbs the wire mesh through the plurality of magnetic points.

[0007] Furthermore, the driving mechanism is a pneumatic cylinder or an oil cylinder, the output end of the driving mechanism is connected to the rotating shaft, one end of the flip arm is fixedly connected to the rotating shaft, and the other end of the flip arm is fixedly connected to the magnetic suction cup, and the angular displacement output by the driving mechanism drives the rotating shaft to rotate reciprocatingly, driving the flip arm and the magnetic suction cup to flip.

[0008] Furthermore, bearings and bearing seats are mounted on both ends of the rotating shaft in sequence.

[0009] The beneficial effects of the utility model are as follows: the stacked wire mesh pieces are separated one by one by the magnetic disk for the robot to grab, ensuring that the robot grabs only one wire mesh piece at a time; when the magnetic disk adsorbs the wire mesh piece, the posture of the wire mesh piece is adjusted by the adjustment groove, ensuring the consistency of the angle and position of the wire mesh piece to be grabbed before the robot grabs it, avoiding the need for further adjustment before the wire mesh piece is cut. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a schematic diagram of the structure of the auxiliary positioning and loading manipulator head cutting machine of the utility model;

[0011] Figure 2 It is a schematic diagram of the connection between the driving mechanism and the magnetic disk;

[0012] In the figure: 1. magnetic suction cup, 1.1 adjustment slot, 2. flip arm, 3. driving mechanism, 4. rotating shaft, 5. wire mesh, 6. bearing seat, 7. storage table, 8. lifting device. DETAILED DESCRIPTION

[0013] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific embodiments disclosed below.

[0014] See attached Figure 1-2 A manipulator head cutting machine with auxiliary positioning and feeding includes a magnetic suction cup 1 and a flip arm 2. The magnetic suction cup 1 absorbs a wire mesh sheet 5 by magnetic attraction. The magnetic suction cup 1 is fixedly connected to the flip arm 2. The flip arm 2 is connected to a driving mechanism. The driving mechanism drives the flip arm 2 and the magnetic suction cup 1 to flip. An adjustment groove 1.1 for adjusting the posture of the wire mesh sheet is formed on the magnetic suction cup 1. The shape of the adjustment groove 1.1 is adapted to the outer contour of the wire mesh sheet 5. The adjustment groove 1.1 has a slope, and the inner surface of the adjustment groove forms a slope with a wide notch and a narrow groove bottom.

[0015] Based on the above technical solution, the adjustment groove 1.1 has a slope, which can enable the wire mesh in the groove to self-adjust and align. At the same time, a certain space can be reserved under the wire mesh in the adjustment groove for the robot to grab. Since the frame of the wire mesh is attached to the inner surface of the adjustment groove, the robot grabs the grid wire in the wire mesh.

[0016] Furthermore, a number of wire mesh sheets 5 waiting to be loaded are stacked on a storage platform 7, and a lifting device 8 for controlling the lifting of the storage platform 7 is provided below the storage platform 7; the magnetic suction cup 1 is flipped to the top of the storage platform 7 by the flip arm 2, and the adjustment groove 1.1 of the magnetic suction cup 1 is facing downward to absorb the wire mesh sheet located at the top of the storage platform, and the magnetic suction cup 1 is flipped to the loading station by the flip arm 2, and the adjustment groove 1.1 of the magnetic suction cup is facing upward to absorb a wire mesh sheet, and the manipulator grabs the wire mesh sheet 5 from the magnetic suction cup 1 at the loading station.

[0017] Based on the above technical solution, the wire mesh pieces are initially stacked when they are stacked on the storage platform 7, so the placement angle deviation of the wire mesh pieces is very small, and they can be self-adjusted and aligned by adjusting the slope of the adjustment groove when entering the adjustment groove 1.1. The height of the magnetic chuck 1 to the top of the storage platform 7 is fixed each time it is flipped, so the storage platform 7 adjusts the height of the top wire mesh piece through the lifting device 8 for the magnetic chuck 1 to adsorb. The lifting device 8 can be selected from various forms such as scissor type, lifting and retracting type, sleeve type, threaded type, etc., which can realize the controllable lifting of the storage platform 7. The rotating shaft rotates, and the magnetic chuck 1 is flipped to the top of the storage platform 7 through the flip arm 2 to adsorb the wire mesh piece at the top of the storage platform. The rotating shaft 4 rotates, driving the flip arm 2, the magnetic chuck 1 and a wire mesh piece in the magnetic chuck 1 to flip to the loading station, and the manipulator grabs the wire mesh piece 5 from the magnetic chuck 1 at the loading station.

[0018] Furthermore, a plurality of magnetic points formed by magnets are arranged at the bottom of the adjustment groove, and the magnetic suction cup absorbs the wire mesh through the plurality of magnetic points.

[0019] Based on the above technical solution, the magnetic chuck is provided with several magnetic points, through which the wire mesh is adsorbed. The magnetic force of the magnetic points is small, and the vibration generated when the flip arm flips into place can instantly separate the wire mesh from the magnetic chuck, so that the wire mesh can be adjusted and corrected in the adjustment slot. At the same time, the low magnetic force adsorption of the magnetic points does not affect the robot arm's grasping of the wire mesh in the magnetic chuck.

[0020] In another embodiment, the magnetic suction cup is electromagnetically controlled. When the flip arm flips to the top of the storage table to adsorb the wire mesh and during the flipping process of the flip arm, the magnetic suction cup is energized and magnetized. When the flip arm flips to the loading station, the magnetic suction cup is powered off and has no magnetism. The wire mesh is adjusted and corrected in the adjustment groove, and the robot grabs the wire mesh in the magnetic suction cup.

[0021] Furthermore, the driving mechanism 3 is a pneumatic cylinder or an oil cylinder, the output end of the driving mechanism 3 is connected to the rotating shaft 4, one end of the flip arm 2 is fixedly connected to the rotating shaft 4, and the other end of the flip arm 2 is fixedly connected to the magnetic suction cup 1. The angular displacement output by the driving mechanism 3 drives the rotating shaft 4 to rotate reciprocatingly, driving the flip arm 2 and the magnetic suction cup 1 to flip.

[0022] Based on the above technical solution, when the driving mechanism 3 is an oil cylinder, the oil cylinder uses a rack swing oil cylinder. The working principle of the rack swing cylinder is to drive the reciprocating motion of the rack through hydraulic oil to drive the gear as the output shaft to rotate and output, and the gear is fixedly connected to the rotating shaft to drive the rotating shaft to swing back and forth. When the driving mechanism is an air cylinder, the air cylinder uses a swing cylinder (rotary cylinder), which also uses the rack and gear principle. The high-pressure air source drives the reciprocating motion of the rack to drive the gear as the output shaft to rotate and output, and the gear is fixedly connected to the rotating shaft to drive the rotating shaft to swing back and forth. In addition to air cylinders and oil cylinders, the driving mechanism can also use a stepper motor to output angular displacement.

[0023] Furthermore, in order to install the rotating shaft 4, bearings and bearing seats 6 are sequentially mounted on both ends of the rotating shaft.

[0024] It should be noted that the parts not described in detail in the present invention are prior art.

[0025] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0026] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0027] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0029] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0030] The above examples are only the best embodiments of the present invention. Obviously, the present invention is not limited to the above examples, and there are many variations. All variations that can be directly derived or associated with the contents disclosed by a person skilled in the art should be considered as the protection scope of the present invention.

Claims

1. A manipulator head cutting machine with auxiliary positioning and feeding, characterized in that: It includes a magnetic suction cup and a flip arm, the magnetic suction cup absorbs the wire mesh by magnetic attraction, the magnetic suction cup is fixedly connected to the flip arm, the flip arm is connected to a driving mechanism, the driving mechanism drives the flip arm and the magnetic suction cup to flip, an adjustment groove for adjusting the posture of the wire mesh is formed on the magnetic suction cup, the shape of the adjustment groove is adapted to the outer contour of the wire mesh, the adjustment groove has a slope, and the inner surface of the adjustment groove forms a slope with a wide groove opening and a narrow groove bottom.

2. A manipulator head cutting machine with auxiliary positioning and loading according to claim 1, characterized in that: A number of wire mesh sheets waiting to be loaded are stacked on a storage table, and a lifting device for controlling the lifting of the storage table is arranged under the storage table; the magnetic suction cup is flipped to the top of the storage table by a flip arm, and the adjustment groove of the magnetic suction cup is downwardly adsorbed to the wire mesh sheet located at the top of the storage table, and the magnetic suction cup is flipped to the loading station by the flip arm, and the adjustment groove of the magnetic suction cup is upwardly adsorbed to a wire mesh sheet, and the manipulator grabs the wire mesh sheet from the magnetic suction cup at the loading station.

3. A manipulator head cutting machine with auxiliary positioning and loading according to claim 1 or 2, characterized in that: The bottom of the adjustment groove is provided with a plurality of magnetic points formed by magnets, and the magnetic suction cup absorbs the wire mesh through the plurality of magnetic points.

4. The manipulator head cutting machine with auxiliary positioning and loading according to claim 1, characterized in that: The driving mechanism is a pneumatic cylinder or an oil cylinder, the output end of the driving mechanism is connected to the rotating shaft, one end of the flip arm is fixedly connected to the rotating shaft, and the other end of the flip arm is fixedly connected to the magnetic suction cup. The angular displacement output by the driving mechanism drives the rotating shaft to reciprocate, driving the flip arm and the magnetic suction cup to flip.

5. The manipulator head cutting machine with auxiliary positioning and loading according to claim 4, characterized in that: The two ends of the rotating shaft are sequentially covered with bearings and bearing seats.

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