Sample plate automatic turn-over device based on industrial six-axis robot

Abstract

The utility model relates to the technical field of plate turnover, in particular to an automatic sample plate turnover device based on an industrial six-axis robot, which comprises a device base, a placing plate is fixed on the upper surface of the device base, an adjusting mechanism used for adjusting samples is arranged in the placing plate, a fixing frame is fixed on one side of the placing plate, and the fixing frame is fixed on the other side of the placing plate. A grabbing mechanism used for grabbing a sample plate is installed on one side of the fixing frame. The adjusting mechanism comprises a stepping motor, the stepping motor is fixed into the containing plate through a bolt, a lead screw is fixed to a power output shaft of the stepping motor, a movable block is slidably connected to the outer surface of the lead screw, and two guide rods fixed to the inner wall of the containing plate penetrate through the interior of the movable block. Through the arranged grabbing mechanism, the sample plate can be adsorbed, the six-axis mechanical arm drives the grabbed sample plate to turn over, the automatic turn-over effect is achieved, and the device is not limited by the thickness of the plate and is convenient to use.

Description

Technical Field

[0001] The utility model relates to the technical field of sheet turning, in particular to an automatic template turning device based on an industrial six-axis robot. Background Technique

[0002] The automatic template turning device is a device used in an automated production line, mainly used for automatically turning templates to improve production efficiency and product quality. The automatic template turning device usually consists of a mechanical structure, a control system, a safety protection device and other parts. The mechanical structure is responsible for grasping, turning and releasing the template; the control system is responsible for the automated operation of the entire device; the safety protection device ensures the safety of personnel and equipment during operation.

[0003] When the existing sheet turning devices are in use, most of them do not have an adjustment function, resulting in the inability of the sheet turning device to adjust the clamping distance according to sheets of different specifications and sizes, so that they cannot be turned over for processing. Therefore, there is a defect of lacking an adjustment function, which increases the labor intensity of the staff.

[0004] The existing patent (publication number: CN217866690U) discloses a sheet turning device for ensuring the reliability of sheet turning, which includes a horizontal plate. The left and right sides of the top of the horizontal plate are both slidably connected with frames. The top of the frame is fixedly connected with vertical plates. The tops of the opposite sides of the two vertical plates are both rotatably connected with rotating shafts through bearings. One end of the rotating shaft far away from the vertical plate is fixedly connected with a concave frame. The top of the concave frame is threadedly connected with a screw rod. By setting the horizontal plate, the frame, the vertical plate, the rotating shaft, the concave frame, the screw rod, the pressing plate and the driving component, it can conveniently clamp and turn over the sheet, and has the advantage of an adjustment function, thereby reducing the labor intensity of the staff.

[0005] In view of the above problems, although the solution given by the existing patent can conveniently clamp and turn over the sheet and has the advantage of an adjustment function, when it is in use, due to the limitation of the clamping mechanism, the thickness of the template is limited by the concave frame, and templates that are too thick cannot be clamped. Summary of the Invention

[0006] The purpose of the utility model is to provide an automatic template turning device based on an industrial six-axis robot, which can adsorb the template, so that the six-axis robotic arm drives the grasped template to turn over, realizing the effect of automatic turning over, and the device is not limited by the thickness of the sheet, which is convenient to use, so as to solve the problems raised in the above background technique.

[0007] To achieve the above object, the present utility model provides the following technical solution: An automatic template turning device based on an industrial six-axis robot, including a device base, on the upper surface of which a placement plate is fixed. Inside the placement plate, there is an adjustment mechanism for adjusting the sample. On one side of the placement plate, a fixed frame is fixed, and on one side of the fixed frame, a grasping mechanism for grasping the template is installed;

[0008] The adjustment mechanism includes a stepper motor, which is fixed inside the placement plate by bolts. A lead screw is fixed to the power output shaft of the stepper motor. An active block is slidably connected to the outer surface of the lead screw. Two guide rods fixed to the inner wall of the placement plate penetrate through the active block. A push plate is fixed to the upper surface of the active block.

[0009] Preferably, a fixed plate is fixed to the upper end of the placement plate, and a laser measurement sensor is fixed to the side wall of the fixed plate.

[0010] Preferably, the grasping mechanism includes a driving motor, which is fixed to one side of the fixed frame by bolts.

[0011] Preferably, a transmission rod is fixed to the power output shaft of the driving motor. An active frame is fixed to the outer surface of the transmission rod. The end of the transmission rod is rotatably connected to the inner wall of the fixed frame through a bearing.

[0012] Preferably, a first grasping member is fixed to the inner wall of the active frame. A six-axis robotic arm is arranged on one side of the device base.

[0013] Preferably, a second grasping member is fixed to the end of the six-axis robotic arm by bolts. Vacuum suction cups are installed on one side of both the second grasping member and the first grasping member.

[0014] Preferably, connecting pipes are connected to the other side of both the second grasping member and the first grasping member. A negative pressure pump is connected to one side of the connecting pipes.

[0015] Compared with the prior art, the beneficial effects of the present utility model are:

[0016] 1. Through the provided grasping mechanism, the template can be adsorbed, enabling the six-axis robotic arm to drive the grasped template to turn over, achieving the effect of automatic turning over. Moreover, this device is not limited by the thickness of the plate, facilitating use;

[0017] 2. Through the provided adjustment mechanism, the stepper motor drives the lead screw to rotate. With the cooperation of the guide rods, the active block can perform horizontal movement, thereby driving the push plate to move and pushing the template to a suitable position, facilitating the turning over of plates of different sizes. Description of the Drawings

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is the overall structural view of the present invention;

[0020] Figure 2 It is the schematic semi-sectional structure view of the placement plate of the present invention;

[0021] Figure 3 It is the three-dimensional structural view of the six-axis robotic arm of the present invention;

[0022] Figure 4 It is the schematic semi-sectional structure view of the first grasping member of the present invention.

[0023] Explanation of reference numerals:

[0024] 1. Device base; 2. Placement plate; 3. Stepper motor; 31. Lead screw; 32. Movable block; 33. Guide rod; 34. Push plate; 4. Fixed plate; 5. Laser measurement sensor; 6. Fixed frame; 7. Driving motor; 71. Transmission rod; 72. Movable frame; 8. First grasping member; 9. Six-axis robotic arm; 10. Second grasping member; 11. Vacuum suction cup; 12. Negative pressure pump; 13. Connecting pipe. Specific embodiments

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0026] The present invention provides a technical solution:

[0027] Please refer to Figures 1 to 4 , a template automatic turning device based on an industrial six-axis robot, including a device base 1, a placement plate 2 is fixed on the upper surface of the device base 1, an adjustment mechanism for adjusting the sample is provided inside the placement plate 2, a fixed frame 6 is fixed on one side of the placement plate 2, and a grasping mechanism for grasping the template is installed on one side of the fixed frame 6;

[0028] The adjusting mechanism includes a stepping motor 3, which is fixed inside the placement plate 2 by bolts. A lead screw 31 is fixed to the power output shaft of the stepping motor 3. A movable block 32 is slidably connected to the outer surface of the lead screw 31. Two guide rods 33 fixed to the inner wall of the placement plate 2 penetrate through the inside of the movable block 32. A push plate 34 is fixed to the upper surface of the movable block 32. A fixing plate 4 is fixed to the upper end of the placement plate 2, and a laser measurement sensor 5 is fixed to the side wall of the fixing plate 4.

[0029] By adopting the above technical solution, before using the template automatic turning device based on the industrial six-axis robot, the device base 1 and the six-axis robotic arm 9 are respectively placed in appropriate positions. During use, an external device places the template on the placement plate 2. The template is measured by the laser measurement sensor 5 provided on the fixing plate 4. The measured data is sent to the single-chip microcomputer through a wire. After the single-chip microcomputer processes the data, a driving signal is sent to the stepping motor 3, causing the stepping motor 3 to drive the lead screw 31 to rotate. With the cooperation of the guide rods 33, the movable block 32 can move horizontally, thereby driving the push plate 34 to move and pushing the template to an appropriate position, facilitating the turning process of plates of different sizes.

[0030] Specifically, as Figure 1 、 Figure 3 and Figure 4 shown, the grasping mechanism includes a driving motor 7, which is fixed to one side of the fixing frame 6 by bolts. A transmission rod 71 is fixed to the power output shaft of the driving motor 7. A movable frame 72 is fixed to the outer surface of the transmission rod 71. The end of the transmission rod 71 is rotatably connected to the inner wall of the fixing frame 6 through a bearing. A first grasping member 8 is fixed to the inner wall of the movable frame 72. A six-axis robotic arm 9 is placed on one side of the device base 1, and a second grasping member 10 is fixed to the end of the six-axis robotic arm 9 by bolts. Vacuum suction cups 11 are installed on one side of both the second grasping member 10 and the first grasping member 8. Connecting pipes 13 are connected to the other side of both the second grasping member 10 and the first grasping member 8, and a negative pressure pump 12 is connected to one side of the connecting pipe 13.

[0031] By adopting the above technical solution, the driving motor 7 arranged on the fixing frame 6 drives the transmission rod 71 to rotate, thereby driving the movable frame 72 to move, so that the vacuum suction cup 11 on the first grasping member 8 contacts the upper surface of the template. At this time, the negative pressure pump 12 is started, and the air in the vacuum suction cup 11 is pumped out through the connecting pipe 13, so that the vacuum suction cup 11 generates negative pressure to adsorb the template. The driving motor 7 drives the movable frame 72 to reset again. At this time, the six-axis robotic arm 9 is started to drive the second grasping member 10 to be in the vertical direction, and the vacuum suction cup 11 on the second grasping member 10 contacts the other side of the template. The negative pressure pump 12 evacuates the vacuum suction cup 11 on the second grasping member 10 again to adsorb the sheet material. The vacuum suction cup 11 on the first grasping member 8 releases the adsorption, so that the six-axis robotic arm 9 drives the grasped template to turn over, achieving the effect of automatic turning over, and this device is not limited by the thickness of the sheet material, which is convenient to use.

[0032] Working principle: An external device places the template on the placing plate 2. The template is measured by the laser measurement sensor 5 (model: RPLIDARS3) arranged on the fixing plate 4. The stepping motor 3 drives the lead screw 31 to rotate. With the cooperation of the guiding rod 33, the movable block 32 can move horizontally, thereby driving the pushing plate 34 to move and pushing the template to a suitable position, facilitating the turning-over treatment of sheets of different sizes. The driving motor 7 arranged on the fixing frame 6 drives the transmission rod 71 to rotate, thereby driving the movable frame 72 to move, so that the vacuum suction cup 11 on the first grasping member 8 contacts the upper surface of the template. At this time, the negative pressure pump 12 is started, and the air in the vacuum suction cup 11 is pumped out through the connecting pipe 13, so that the vacuum suction cup 11 generates negative pressure to adsorb the template. The driving motor 7 drives the movable frame 72 to reset again. At this time, the six-axis robotic arm 9 is started to drive the second grasping member 10 to be in the vertical direction, and the vacuum suction cup 11 on the second grasping member 10 contacts the other side of the template. The negative pressure pump 12 evacuates the vacuum suction cup 11 on the second grasping member 10 again to adsorb the sheet material. The vacuum suction cup 11 on the first grasping member 8 releases the adsorption, so that the six-axis robotic arm 9 drives the grasped template to turn over, achieving automatic turning over.

[0033] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic sample turning device based on an industrial six-axis robot, comprising a device base (1), characterized in that: A placement plate (2) is fixed on the upper surface of the device base (1), an adjustment mechanism for adjusting the sample is provided inside the placement plate (2), a fixing frame (6) is fixed on one side of the placement plate (2), and a grabbing mechanism for grabbing the sample is installed on one side of the fixing frame (6); The adjustment mechanism comprises a stepper motor (3), the stepper motor (3) being fixed inside the placement plate (2) by means of bolts, a screw rod (31) being fixed to the power output shaft of the stepper motor (3), a movable block (32) being slidably connected to the outer surface of the screw rod (31), two guide rods (33) being fixed to the inner wall of the placement plate (2) passing through the interior of the movable block (32), and a push plate (34) being fixed to the upper surface of the movable block (32).

2. The automatic sample turning device based on an industrial six-axis robot according to claim 1 is characterized in that: A fixing plate (4) is fixed to the upper end of the placement plate (2), and a laser measurement sensor (5) is fixed to the side wall of the fixing plate (4).

3. The automatic sample turning device based on an industrial six-axis robot according to claim 1 is characterized in that: The gripping mechanism comprises a drive motor (7), and the drive motor (7) is fixed to one side of the fixing frame (6) by means of bolts.

4. The automatic sample turning device based on an industrial six-axis robot according to claim 3 is characterized in that: A transmission rod (71) is fixed to the power output shaft of the driving motor (7), a movable frame (72) is fixed to the outer surface of the transmission rod (71), and the end of the transmission rod (71) is rotatably connected to the inner wall of the fixed frame (6) via a bearing.

5. The automatic sample turning device based on an industrial six-axis robot according to claim 4 is characterized in that: A first grabbing member (8) is fixed to the inner wall of the movable frame (72), and a six-axis mechanical arm (9) is arranged on one side of the device base (1).

6. The automatic sample turning device based on an industrial six-axis robot according to claim 5 is characterized in that: A second gripping member (10) is fixed to the end of the six-axis robot arm (9) by means of bolts, and a vacuum suction cup (11) is installed on one side of the second gripping member (10) and the first gripping member (8).

7. The automatic template turning device based on an industrial six-axis robot according to claim 6 is characterized in that: The other sides of the second grabbing member (10) and the first grabbing member (8) are both connected to a connecting pipe (13), and one side of the connecting pipe (13) is connected to a negative pressure pump (12).

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