Automatic waste clamping equipment

Abstract

Automatic waste material clamping equipment comprises a clamping control device and a waste material collecting device, the clamping control device comprises a mechanical clamp used for clamping waste materials and placing the waste materials into the waste material collecting device, a photoelectric sensor used for receiving photoelectric signals reflected from the surfaces of the waste materials, and a push rod used for pushing the waste materials to one side of the photoelectric sensor; the mechanical arm cross beam and the mechanical arm vertical beam are used for driving the mechanical clamp to be close to or away from the waste collecting device, and the waste collecting device comprises a collecting rod obliquely arranged at a preset included angle with the horizontal plane and a baffle arranged on the lower side of the collecting rod. Therefore, the automatic waste material clamping equipment can continuously work at a constant speed and high precision.

Description

Technical Field

[0001] The utility model relates to the field of equipment manufacturing, in particular to an automatic waste clamping device. Background Art

[0002] In modern industrial manufacturing processes, such as metal processing and plastic product production, a large amount of waste is generated. The traditional manual method of picking up waste is slow and difficult to meet the needs of rapid waste removal in large-scale production. As the pace of industrial production continues to accelerate, an automated device that can quickly and accurately pick up waste is needed to support the efficient operation of the production line. In addition, there is a large degree of uncertainty in manual picking up of waste. Factors such as worker fatigue and operational errors may lead to incomplete picking up of waste or secondary pollution or damage to the products being processed, increasing cost expenditures. Utility Model Content

[0003] In order to solve the above problems, the purpose of the utility model is to provide an automatic waste clamping device.

[0004] According to the utility model, an automatic waste clamping device is provided, comprising: a control clamping device and a waste collecting device, wherein the control clamping device comprises: a mechanical clamp for clamping waste and placing it in the waste collecting device, a photoelectric sensor for receiving photoelectric signals reflected from the surface of the waste, a push rod for pushing the waste to one side of the photoelectric sensor, a mechanical arm crossbeam and a mechanical arm vertical beam for driving the mechanical clamp to approach or move away from the waste collecting device, and the waste collecting device comprises: a collecting rod inclined at a predetermined angle to the horizontal plane, and a baffle arranged on the lower side of the collecting rod.

[0005] Preferably, a waste material recognition device is provided before the control of the gripping device.

[0006] Preferably, the control clamping device and the collecting rod are arranged above the conveyor belt.

[0007] Preferably, the collecting rods are constructed as a pair of rail-type components arranged in parallel.

[0008] Preferably, a pulley is arranged inside the collecting rod.

[0009] Preferably, the crossbeam of the mechanical arm and the mechanical clamp are connected via a first telescopic cylinder.

[0010] Preferably, the vertical beam of the robot arm and the horizontal beam of the robot arm are connected via a second telescopic cylinder.

[0011] Preferably, the robot arm cross beam, the robot arm vertical beam and the robot clamp are each arranged in pairs.

[0012] Preferably, the collecting bar is mounted above the conveyor belt via supporting legs.

[0013] The beneficial effects of the utility model are as follows: the automatic waste clamping equipment can work continuously at a constant speed and high precision. Compared with manual clamping, there is no interference from factors such as fatigue and rest; the clamping action of the automatic waste clamping equipment is highly accurate. Through advanced control systems and precise mechanical structures, it can accurately clamp waste materials to avoid accidentally touching the products being processed during the clamping process, reducing the reliance on manual waste clamping, thereby saving a lot of labor costs. Enterprises do not need to hire special labor for waste clamping work, nor do they need to bear the welfare, training and other costs related to labor, reducing energy consumption and reducing costs.

[0014] In order to make the purpose, technical solutions and advantages of the utility model clearer, the utility model will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a three-dimensional schematic diagram of the automatic waste clamping device.

[0016] Figure 2 This is a partial enlarged view of the waste collection device.

[0017] Figure 3 This is a partial enlarged view of the automatic scrap picking equipment viewed from the upstream side of the conveyor.

[0018] Explanation of the reference numerals: 10 - control clamping device, 11 - mechanical arm crossbeam, 12 - mechanical clamp, 13 - push rod, 14 - photoelectric sensor, 15 - mechanical arm vertical beam, 16 - conveyor belt; 20 - waste collection device, 21 - baffle, 22 - support leg, 23 - pulley, 24 - collection rod. DETAILED DESCRIPTION

[0019] The exemplary embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. The exemplary embodiments described below and shown in the accompanying drawings are intended to teach the principles of the present invention, so that those skilled in the art can implement and use the present invention in several different environments and for several different applications. Therefore, the scope of protection of the present invention is defined by the attached claims, and the exemplary embodiments are not intended to be, and should not be considered to be, a restrictive description of the scope of protection of the present invention. Moreover, for the convenience of description, the sizes of the various parts shown in the accompanying drawings are not necessarily drawn according to the actual proportional relationship, and the orientation description, such as the orientation or position relationship indicated by the upper, lower, left, right, top, bottom, etc., are all based on the orientation or position relationship shown in the accompanying drawings, which is 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 orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Throughout the accompanying drawings, the same elements are represented by the same or similar figure marks. Conventional structures or local structures will be omitted when they may cause confusion or difficulty in observing and understanding the understanding of the present disclosure. Unless otherwise specifically stated, the order and numerical values ​​of components and assembly steps set forth in the embodiments do not limit the scope of the present invention.

[0020] Working scene: The produced profile workpiece is conveyed downstream along the conveyor belt 16 from the discharge port (not shown) of the pressing area of ​​the manufacturing area. Figure 1 During the transportation (center to the right), a waste identification device (not shown) is provided before the control clamping device 10 (upstream side), which can accurately identify the waste. The specific working principle will not be described in detail here.

[0021] The utility model provides an automatic waste clamping device, such as Figures 1 to 3 As shown, it is mounted above the conveyor belt 16 and includes: a control clamping device 10 and a waste collection device 20.

[0022] The control gripping device 10 includes: a mechanical arm crossbeam 11, a mechanical clamp 12, a push rod 13, a photoelectric sensor 14, and a mechanical arm vertical beam 15. The mechanical arm crossbeam 11 and the mechanical clamp 12 are connected via a first telescopic cylinder. When waste 25 is detected, the first telescopic cylinder can be controlled to extend horizontally for a certain distance; when no waste 25 is detected, the first telescopic cylinder does not move. The mechanical arm vertical beam 15 and the mechanical arm crossbeam 11 are connected via a second telescopic cylinder. When waste 25 is detected, the second telescopic cylinder can be controlled to extend vertically for a certain distance; when no waste 25 is detected, the second telescopic cylinder does not move.

[0023] In this way, the mechanical clamp 12 is set to be able to rise and fall relative to the conveyor belt 16 and the waste collection device 20 by using the mechanical arm vertical beam 15 and the mechanical arm horizontal beam 11, and can move back and forth horizontally relative to the waste collection device 20 along the conveying direction of the conveyor belt 16. Here, horizontal back and forth movement refers to movement including a horizontal component. In this way, the mechanical clamp 12 can be driven to approach or move away from the waste collection device 20 through the connection with the mechanical arm vertical beam 15 and the mechanical arm horizontal beam 11.

[0024] The waste collecting device 20 includes a baffle 21 , a pulley 23 , a supporting leg 22 , and a collecting rod 24 .

[0025] Control the operating principle of the clamping device 10: when the waste identification device identifies the waste 25, the push rod 13 located on the right side of the discharge port of the profile pressing area receives the signal and starts to move. The push rod 13 pushes the waste 25 to the side of the photoelectric sensor 14. The photoelectric sensor 14 receives the photoelectric signal reflected from the surface of the waste 25, and controls the robot arm vertical beam 15 and / or the second telescopic cylinder to move downward for a distance, so that the robot arm cross beam 11 moves downward, and at the same time the mechanical clamp 12 clamps the waste 25, and then controls the robot arm vertical beam 15 and the second telescopic cylinder to move upward for a distance, so that the robot arm cross beam 11 moves to the original position, the robot arm vertical beam 15 and / or the first telescopic cylinder move toward the waste collection device 20 for a distance, and place the waste 25 on the front end of the collection rod 24 of the waste collection device 20, and then the robot arm vertical beam 15 and / or the first telescopic cylinder move back to the original position, waiting for the next clamping movement.

[0026] The operating principle of the waste collecting device 20 is as follows: the support legs 22 support the collecting rod 24 and the collecting rod 24 is inclined at a predetermined angle relative to the horizontal plane, that is, the height of the collecting rod 24 from the ground gradually decreases as it moves away from the control clamping device 10, so as to form a slope that facilitates gravity drop. A baffle 21 is installed at the tail of the lower side of the collecting rod 24, and the cross section of the baffle 21 is square, which can prevent the waste from sliding out of the collecting rod 24 due to gravity.

[0027] In this way, the mechanical arm (mechanical clamp 12) of the clamping device 10 is controlled to place the waste 25 at the front end of the collecting rod 24. Due to the predetermined slope, the waste 25 is driven by gravity to rotate the pulley 23 inside the collecting rod 24, and the waste 26 moves toward the tail of the collecting rod 24 with the rotation of the pulley 23 until it moves to the baffle 21.

[0028] When waste 25 is generated, the gripping device 10 and the waste collecting device 20 are controlled to repeat this movement. If no waste 25 is generated, the profiles that meet the conditions are transferred from the conveyor belt 6 to the next location for use.

[0029] <Example 1>

[0030] Taking the production of 6005 alloy aluminum alloy photovoltaic frames as an example, through the identification of the waste identification system, the automatic waste clamping device 10 can accurately clamp the waste 25 of the photovoltaic frame and accurately transfer the waste 25 to the waste collection device 20, avoiding the waste 25 from mixing into qualified products and causing losses.

[0031] When the waste identification device identifies the waste 25, the push rod 13 located on the right side of the discharge port of the profile pressing area receives the signal and starts moving within 1 to 2 seconds. The push rod 13 pushes the waste 25 to the side of the photoelectric sensor 14. The pushing distance of the push rod 13 is 100-150mm. The photoelectric sensor 14 receives the photoelectric signal reflected from the surface of the waste 25. In order to avoid damaging the photoelectric sensor 14 due to the waste 25, the height of the photoelectric sensor 14 is 50-100mm higher than the height of the discharge port of the pressing area.

[0032] The photoelectric sensor 14 receives the signal, and the robot arm beam 11 moves downward 300 (± 2) mm within 2 to 3 seconds. At the same time, the mechanical clamp 12 moves downward 150 (± 1) mm with the robot arm beam 11 to clamp the waste 25. Then the robot arm beam 11 moves to the original position, and the robot arm vertical beam 15 moves 450 (+ 5 / 0) mm toward the waste collection device 20 to place the waste 25 on the waste collection device 20. Then the robot arm vertical beam 15 moves back to the original position and waits for the next clamping movement.

[0033] The support leg 22 supports the collecting rod 24, which is 300-330mm higher than the conveyor belt 6. The angle between the collecting rod 24 and the horizontal plane of the conveyor belt 6 is 20 (0, -0.3) degrees. A baffle 21 is installed at 50-60mm from the tail of the collecting rod 24. The baffle 21 is a square with a cross section of 15 (±1) mm*15 (±1) mm. The baffle 21 can prevent the waste 25 from sliding out of the collecting rod 24. The mechanical arm (mechanical clamp 12) of the control clamping device 10 places the waste 25 on the front end of the collecting rod 24. Since the collecting rod 24 has a certain slope, the waste 25 is driven by gravity to rotate the pulley 23 inside the collecting rod 24. The waste 25 moves toward the tail of the collecting rod 24 with the rotation of the pulley 23 until it moves to the baffle 21.

[0034] When waste 25 is generated, the gripping device 10 and the waste collecting device 20 are controlled to repeat this movement. If no waste 25 is generated, the qualified profiles are conveyed from the conveyor belt 6 at a speed of 1 (± 0.1) m / s to the next location for use.

[0035] In addition, the driving mechanism of the push rod 13 is not limited as long as it can properly push the waste. Moreover, the collecting rod 24 is not limited to a pair of rail-type components arranged in parallel as shown in the figure. The robot arm cross beam 11, the robot arm vertical beam 15 and the mechanical clamp 12 are not limited to being arranged in pairs. Moreover, the related driving connection mechanisms of the robot arm cross beam 11 and the robot arm vertical beam 15, and the required control modules can all be implemented using conventional technologies in the art, which will not be repeated here.

[0036] As a result, the automatic scrap clamping equipment can work continuously at a constant speed and high precision. Compared with manual clamping, there is no interference from factors such as fatigue and rest; the automatic scrap clamping equipment has high clamping accuracy. Through advanced control systems and precise mechanical structures, it can accurately clamp scraps to avoid accidentally touching the products being processed during the clamping process, reducing the reliance on manual scrap clamping, thereby saving a lot of labor costs. Enterprises do not need to hire special labor for scrap clamping work, nor do they need to bear labor-related welfare, training and other expenses, reducing cost expenditures.

[0037] In the description of the present application, "multiple" means two or more than three, unless otherwise clearly and specifically defined. Unless otherwise clearly specified and defined, 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 one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. Although the present invention has been described with reference to various specific embodiments, it should be understood that variations can be made within the spirit and scope of the concept of the described utility model. Therefore, it is intended that the present invention is not limited to the described embodiments, but will have the full scope defined by the language of the appended claims.

Claims

1. An automatic waste clamping device, characterized in that: include: A control gripping device (10) and a waste collection device (20), wherein the control gripping device (10) comprises: a mechanical gripper (12) for gripping waste (25) and placing it in the waste collection device (20), a photoelectric sensor (14) for receiving a photoelectric signal reflected from a surface of the waste (25), a push rod (13) for pushing the waste (25) toward one side of the photoelectric sensor (14), a mechanical arm cross beam (11) and a mechanical arm vertical beam (15) for driving the mechanical gripper (12) to approach or move away from the waste collection device (20), and the waste collection device (20) comprises: a collection rod (24) arranged at a predetermined angle to a horizontal plane, and a baffle (21) arranged on a lower side of the collection rod (24).

2. The automatic waste clamping device according to claim 1 is characterized in that: A waste material identification device is provided before controlling the gripping device (10).

3. The automatic waste clamping device according to claim 1 is characterized in that: The control clamping device (10) and the collecting rod (24) are arranged above the conveyor belt (16).

4. The automatic waste clamping device according to claim 1 is characterized in that: The collecting rod (24) is constructed as a pair of rail-type components arranged in parallel.

5. The automatic waste clamping device according to claim 4 is characterized in that: A pulley (23) is arranged inside the collecting rod (24).

6. The automatic waste clamping device according to claim 1 is characterized in that: The mechanical arm crossbeam (11) and the mechanical clamp (12) are connected via a first telescopic cylinder.

7. The automatic waste clamping device according to claim 1 is characterized in that: The mechanical arm vertical beam (15) and the mechanical arm horizontal beam (11) are connected via a second telescopic cylinder.

8. The automatic waste clamping device according to claim 1 is characterized in that: The mechanical arm cross beam (11), the mechanical arm vertical beam (15) and the mechanical clamp (12) are arranged in pairs.

9. The automatic waste clamping device according to claim 3, characterized in that: The collecting rod (24) is mounted above the conveyor belt (16) via supporting legs (22).

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