Sheet separating and carrying system
Through the design of the sheet clamping device and edge pressing mechanism, the problem of low reliability and accuracy in the sheet material separation and handling process is solved, and high-precision sheet positioning and transportation is achieved to meet the needs of sheets of different sizes.
Patent Information
- Application Number
- CN202421653296.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-12
- Publication Date
- 2025-07-11
- Estimated Expiration
- 2034-07-12
AI Technical Summary
In the prior art, there are problems such as low reliability and low sheet displacement accuracy during sheet separation and handling, especially during clamping and transportation, which is difficult to ensure the precise positioning of the sheet and avoid damage.
The sheet clamping device is adopted, including a moving frame, a clamping mechanism, a driving mechanism and a robotic manipulator. Through the coordinated movement of multiple suction cup components and the cooperation of the edge pressing mechanism, high-precision sheet clamping and transportation are achieved.
It improves the reliability and displacement accuracy of sheet material separation and handling, ensures that the sheet does not shift or slide during transportation, adapts to sheets of different sizes, and reduces maintenance costs and space occupancy.
Smart Images
Figure CN223087082U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of industrial automation, in particular to a sheet material sorting and handling system. Background Art
[0002] At present, industrial automation is widely adopted in the industrial field. For example, in the fields of automobile production and processing, it is often necessary to sort and handle multiple sheets, such as aluminum sheets, which are of high precision, thin plate type and stacked, on the production line to separate the multiple stacked sheets into single sheets and displace them between different positions, so as to facilitate subsequent processing such as further punching and welding of the sheets. During the sorting and conveying process, generally, single sheets need to be sequentially taken out from the multiple stacked sheets and conveyed to the conveying mechanism, and then the conveying mechanism transports each single sheet conveyed to a predetermined position in the next process.
[0003] However, on the one hand, the existing sorting and conveying still widely adopt the traditional operation mode of manually using clamping tools to clamp out single sheets each time. This traditional operation mode not only fails to ensure that only one sheet is clamped each time, but also it is difficult to accurately position the clamping part, resulting in a low reliability of realizing single-sheet and accurately positioned clamping. Moreover, since it is difficult to keep the clamping force within a reasonable range, it is also relatively easy to cause damage to the sheets, unable to meet the requirements of large-scale industrial production. On the other hand, the existing conveying mechanism is often designed to be only for sheets of a single size, or lacks a reliable edge pressing effect on the sheets during transportation, so that the sheets are prone to offset or slide during transportation, resulting in a low displacement accuracy of the sheets, which has an adverse impact on the smooth progress of the subsequent processes. In addition, the existing conveying mechanism also has the disadvantages of complex structure, high maintenance cost and large occupied space.
[0004] In summary, the prior art has technical problems of low reliability in sorting and handling sheets and low displacement accuracy of the sheets. Summary of the Utility Model
[0005] In view of the deficiencies in the prior art such as low reliability and low precision of sheet displacement, the present utility model provides a sheet material sorting and handling system to achieve the purpose of the present utility model, which includes: a sheet clamping device, which includes: a moving frame; a plurality of clamping mechanisms arranged on the first side of the moving frame at intervals along the first direction of the moving frame, and each clamping mechanism includes at least two suction cup assemblies for adsorbing and clamping the sheet; a first driving mechanism arranged on the first side of the moving frame and driving at least one of the plurality of clamping mechanisms to move along the first direction; a fixed seat fixed on the second side of the moving frame opposite to the first side; a robot, whose manipulator is fixed to the fixed seat and drives the moving frame to drive the clamped sheet to move so as to transport the sheet; a sheet pressing and transporting device, which includes: a supporting mechanism including a mounting frame and a supporting frame arranged below the mounting frame; a transporting mechanism, the manipulator of the robot moves the moving frame above the transporting mechanism, and the suction cup assembly releases the clamped sheet onto the transporting mechanism, and the transporting mechanism transports the sheet thereon along the transporting direction; a sheet edge pressing mechanism arranged at one end of the mounting frame relatively far from the sheet clamping device for pressing the edge of the sheet transported by the transporting mechanism.
[0006] Further, each clamping mechanism of the sheet clamping device further includes a second driving mechanism and a third driving mechanism. The second driving mechanism is used to drive the distance between two adjacent suction cup assemblies in the clamping mechanism in a second direction perpendicular to the first direction. The plurality of clamping mechanisms include a first clamping mechanism arranged at one end of the first side of the moving frame in the first direction and a second clamping mechanism arranged at intervals in sequence along the first direction. A pair of suction cup assemblies of the first clamping mechanism remain stationary in the first direction and move closer to or away from each other in the second direction under the drive of the second driving mechanism. For a pair of suction cup assemblies of the second clamping mechanism, they can move closer to or away from the first clamping mechanism in the first direction under the drive of the first driving mechanism, and can move closer to or away from each other in the second direction under the drive of the second driving mechanism. The third driving mechanism can drive the suction cup assembly of the clamping mechanism to move in a third direction, and the third direction is perpendicular to both the first direction and the second direction. During the process of the sheet clamping device clamping the sheet, the third driving mechanism of the first clamping mechanism reciprocally drives the suction cup assembly in the third direction to generate a shaking effect on at least two adjacent sheets so that the sheet clamping device only clamps a single sheet.
[0007] Further, the sheet clamping device further includes a single sheet detection mechanism, which includes a support, a detector and a fixing member. The fixing member fixes the detector to the support, and the detector is used to detect the thickness of the sheet clamped by the suction cup assembly.
[0008] Further, the sheet material sorting and handling system further includes a sheet transmission device, a carrier table, and a placement table. The sheet conveying device is used to convey the sheet towards the direction of the robot. The carrier table is used to carry at least one sheet conveyed by the sheet conveying device. When the detector detects that the thickness of the sheet held by the suction cup assembly exceeds the thickness of a single sheet, the manipulator of the robot will move the moving frame above the placement table, and the suction cup assembly will release the multiple sheets held thereon onto the placement table.
[0009] Further, the sheet clamping device further includes a vision positioning mechanism disposed on the first side of the moving frame. The vision positioning mechanism includes a vision locator and a mounting member. The two ends of the mounting member are respectively connected to the moving frame and the vision locator, and are used for the vision locator to position the sheets held by each suction cup assembly, so as to determine the orientation of each suction cup assembly acting on the sheet.
[0010] Further, the sheet clamping device further includes a plurality of separating mechanisms. The separating mechanisms are disposed outside the clamping mechanism relative to the moving frame. The separating mechanism includes a brush member and a connecting frame for fixing the brush member. The brush surface of the brush member faces the clamping mechanism, and the brush can separate the excess sheets other than the single sheet held on the suction cup assembly.
[0011] Further, the sheet is a rectangular sheet body. The first direction is parallel to the long side of the rectangle of the sheet, the second direction is parallel to the short side of the rectangle of the sheet, and the transportation direction is parallel to the long side of the rectangle of the sheet. A plurality of suction cup assemblies are evenly spaced in the regions near the pair of long sides of the sheet, and a suction cup assembly is correspondingly arranged in each of the four corner regions of the sheet.
[0012] Further, the transportation mechanism of the sheet pressing and transporting device includes a first driving component, multiple groups of roller components, and multiple groups of transmission components. The roller component includes a first rotating shaft and a plurality of rollers provided on the outer periphery of the first rotating shaft. The two ends of the first rotating shaft respectively pass through the first side plate and the second side plate which are arranged on the mounting frame and opposite to each other. The plurality of rollers are located between the first side plate and the second side plate at the same interval from each other, and the rollers drive the sheet they carry. The transmission component is installed outside the first side plate, and a transmission component is arranged between every two adjacent roller components. The transmission component includes a pair of sprockets and a chain located between the pair of sprockets. One end of each first rotating shaft is drivingly connected to the adjacent two sprockets through two chains respectively. The first driving component includes a first driving motor and a first driving shaft drivingly connected to the first driving motor. The first driving shaft is drivingly connected to the first rotating shaft closest to it through a transition transmission component. The first driving component drives the rollers to rotate through the transition transmission component and the transmission component, thereby driving the sheet to move in the transportation direction. The edge pressing mechanism is located downstream in the transportation direction.
[0013] Furthermore, the edge pressing mechanism includes a support shell provided on the mounting frame, a first pressing roller and a second pressing roller that are parallel to each other and spaced apart, and elastic pressing members provided at both ends of the second pressing roller. Both ends of the first pressing roller and the second pressing roller are rotatably supported by the support shell. The elastic pressing members apply an elastic pressing force towards the first pressing roller to the second pressing roller. The gap between the first pressing roller and the second pressing roller has an interference fit with the sheet material. The transition drive assembly includes a plurality of transition sprockets and a plurality of transition chains. A pair of transition sprockets and a transition chain are arranged between the first drive shaft and the roller shaft at the end of the first pressing roller. A pair of transition sprockets and a transition chain are arranged between the roller shaft at the end of the first pressing roller and the first rotating shaft adjacent thereto. The first drive motor drives the first pressing roller to rotate through the roller shaft at the end of the first pressing roller. Thus, the first pressing roller and the second pressing roller jointly press the sheet material located therebetween and transport it outside the sheet pressing and transporting device. The driving force of the first drive motor is transmitted to each first rotating shaft through the transition sprockets and the transition chains.
[0014] Furthermore, the sheet pressing and transporting device further includes a second drive assembly and a plurality of guide rails provided on the mounting frame. Each first guide rail is parallel to each other, and the parallel direction is perpendicular to the transporting direction. A plurality of guide feet respectively slidably engaged with each first guide rail are fixed on the second side plate. The second drive assembly includes a second drive motor and a second drive shaft driven by the second drive motor. The second drive shaft is connected to the second side plate. The second drive motor can drive the second side plate to slide on the corresponding guide rail through the guide feet by forward and reverse rotation, so as to adjust the distance between the first side plate and the second side plate in the direction perpendicular to the transporting direction.
[0015] The beneficial effects of the present utility model are as follows:
[0016] The sheet material clamping device provided in the sheet material feeding and handling system of the present utility model can drive at least one of the plurality of clamping mechanisms to move relatively in the first direction through the first drive mechanism, so as to be able to adjust the distance between the suction cup assemblies in the first direction. In this way, it can adapt to sheet materials with different sizes in the first direction, and thus can accurately position the orientation of each suction cup assembly for clamping the sheet material with high positioning accuracy. Moreover, the edge pressing mechanism provided can apply a reliable edge pressing effect to both sides of the sheet material, especially the front free edge, during the transportation process of the sheet material, especially when the sheet material is about to move out of the sheet pressing and transporting device in the transporting direction, ensuring that the displacement of the sheet material has high accuracy. Description of the Drawings
[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required to be used in the embodiments of the present utility model. For those of ordinary skill in the art, without having to make creative efforts, other drawings can also be obtained according to these drawings, and all of these are within the protection scope of the present utility model.
[0018] Figure 1Overall layout schematic diagram of the sheet material sorting and handling system provided by the present utility model;
[0019] Figure 2 Structural schematic diagram of the sheet material clamping device of the sheet material sorting and handling system provided by the present utility model from the perspective of its second side;
[0020] Figure 3 Structural schematic diagram of the sheet material clamping device of the sheet material sorting and handling system provided by the present utility model from the perspective of its first side;
[0021] Figure 4 Corresponding to Figure 2 Rear view;
[0022] Figure 5 Corresponding to Figure 2 Top view;
[0023] Figure 6 Front view of the sheet pressing and transporting device of the sheet material sorting and handling system provided by the present utility model;
[0024] Figure 7 Corresponding to Figure 6 Front view;
[0025] Figure 8 Corresponding to Figure 6 Top view;
[0026] Explanation of reference numerals:
[0027] 1. Sheet clamping device; 11. Moving frame; 111. Fixed seat; 12. Clamping mechanism; 121. Suction cup assembly; 122. Second driving mechanism; 123. Third driving mechanism; 13. First driving mechanism; 14. Separation mechanism; 141. Brush member; 142. Connecting frame; 15. Vision positioning mechanism; 151. Vision positioner; 152. Mounting member; 16. Single sheet detection mechanism; 161. Support member; 162. Detector; 163. Fixing member; 2. Robot; 21. Manipulator; 3. Tablet pressing and transporting device; 31. Support mechanism; 311. Mounting frame; 312. Support frame; 32. Transport mechanism; 321. First driving component; 3211. First driving motor; 3212. First driving shaft; 322. Roller assembly; 3221. First rotating shaft; 3222. Roller; 323. Transmission component; 3231. Sprocket; 3232. Chain; 324. Transition transmission component; 3241. Transition sprocket; 3242. Transition chain; 33. Edge pressing mechanism; 331. Support shell; 332. First pressing roller; 333. Second pressing roller; 334. Elastic pressing member; 3341. Pressing rod; 3342. Spring; 34. First side plate; 35. Second side plate; 36. Second driving component; 37. Guide rail; 38. Guide foot; 39. Blocking block; 310. Baffle; 4. Sheet transmission device; 5. Loading platform; 6. Placing platform; X. First direction; Y. Second direction; Z. Third direction. Detailed implementation manner
[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. It should be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. In the description of the present utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application 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 thus cannot be construed as a limitation on the present utility model. Moreover, the terms "include", "comprise", or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article, or device. Without further limitation, the elements defined by the statement "including..." do not preclude the existence of additional identical elements in the process, method, article, or device including the said elements. If there is no conflict, the embodiments of the present utility model and the various features in the embodiments can be combined with each other, and all are within the protection scope of the present utility model.
[0029] Reference Figure 1 、 Figure 2 and Figure 6, as an object of the present utility model, there is provided a sheet material sorting and handling system, which includes a sheet material clamping device 1, a robot 2 and a sheet pressing and transporting device 3. Among them, the sheet material clamping device 1 includes a moving frame 11, a plurality of clamping mechanisms 12, a first driving mechanism 13 and a fixed seat 111. The plurality of clamping mechanisms 12 are arranged on the first side of the moving frame 11 and are spaced along the first direction X of the moving frame 11. Each clamping mechanism 12 includes at least two suction cup assemblies 121 for adsorbing and clamping the sheet material. The first driving mechanism 13 is arranged on the first side of the moving frame 11 and drives at least one of the plurality of clamping mechanisms 12 to move along the first direction X. The fixed seat 111 is fixed on the second side of the moving frame 11 opposite to the first side. The manipulator 21 of the robot 2 is fixed to the fixed seat 111 and drives the moving frame 11 to drive the clamped sheet material to move so as to transport the sheet material. The sheet pressing and transporting device 3 includes a support mechanism 31, a transporting mechanism 32 and a sheet edge pressing mechanism 33. Among them, the support mechanism 31 includes a mounting frame 311 and a support frame 312 arranged below the mounting frame 311. The manipulator 21 of the robot 2 moves the moving frame 11 above the transporting mechanism 32, and the suction cup assembly 121 releases the clamped sheet material onto the transporting mechanism 32. The number of the sheet materials can be almost guaranteed to be single sheets by controlling the positions of the respective suction cup assemblies 121 and the magnitude of their adsorption and clamping forces, etc. Even in the unexpected situation that the sheet materials are not single sheets, another embodiment of the sheet material sorting and handling system can also adopt a single sheet detection mechanism 16 (which will be further described below) and corresponding operations to deal with the unexpected situation. The transporting mechanism 32 transports the sheet materials thereon along the transporting direction. The sheet edge pressing mechanism 33 is arranged at one end of the mounting frame 311 relatively far from the sheet material clamping device 1 and is used for pressing the edges of the sheet materials transported by the transporting mechanism 32.
[0030] Therefore, the sheet material sorting and handling system of the present utility model is provided with a sheet clamping device 1, so that at least one of the plurality of clamping mechanisms 12 can be driven by the first driving mechanism 13 to move relatively in the first direction X, thereby enabling the adjustment of the distance between the suction cup assemblies 121 in the first direction X, so as to adapt to sheets with different sizes in the first direction X, and thus the sheets can be clamped with high positioning accuracy. Moreover, since a plurality of suction cup assemblies 121 are adopted, appropriate adsorption and clamping forces can be applied to multiple parts of the sheet, so as to improve the reliability of sorting and clamping the sheet. Furthermore, by using the edge pressing mechanism 33, during the transportation process, especially when the sheet is about to move out of the sheet pressing and transporting device 3 in the transportation direction, a reliable edge pressing effect can be applied to the two side edges of the sheet, especially the front free edge, to prevent the front free edge of the sheet from warping when the sheet moves out of the sheet pressing and transporting device 3, and also to avoid the sheet from shifting or sliding during the entire transportation process, ensuring high accuracy of the sheet displacement and guaranteeing the smooth progress of the subsequent processes after the sheet moves out of the sheet pressing and transporting device 3. Therefore, the sheet material sorting and handling system of the present utility model has the beneficial effects of high reliability in sorting and handling the sheet and high accuracy of sheet displacement.
[0031] In the following embodiments of the sheet material sorting and handling system of the present utility model, the sheet clamping device 1 and the sheet pressing and transporting device 3 respectively configured in the sheet material sorting and handling system will be further described in detail. In addition, the carrying platform 5 and the placing platform 6 that can also be configured in the sheet material sorting and handling system are described in combination.
[0032] Sheet clamping device
[0033] Please refer to Figure 2 and Figure 3 . Specifically, each clamping mechanism 12 of the sheet clamping device 1 further includes a second driving mechanism 122 and a third driving mechanism 123. The second driving mechanism 122 is used to drive the distance between two adjacent suction cup assemblies 121 in the clamping mechanism 12 in the second direction Y perpendicular to the first direction X. Therefore, under the combined action of the first driving mechanism 13 and the second driving mechanism 122, the distance between each suction cup assembly 121 can be adjusted in the first direction X and the second direction Y, so as to further adapt to sheets with different sizes in the second direction Y. Since the second direction Y is perpendicular to the first direction X, it is especially suitable for sheets with a rectangular surface shape.
[0034] The multiple clamping mechanisms 12 include a first clamping mechanism provided at one end of the first side portion of the moving frame 11 in the first direction X and a second clamping mechanism arranged at intervals in sequence along the first direction X. A pair of suction cup assemblies 121 of the first clamping mechanism remain stationary in the first direction X and move closer to or away from each other in the second direction Y under the drive of the second drive mechanism 122. For a pair of suction cup assemblies 121 of the second clamping mechanism, they can move closer to or away from the first clamping mechanism in the first direction X under the drive of the first drive mechanism 13, and can move closer to or away from each other in the second direction Y under the drive of the second drive mechanism 122. Therefore, the first clamping mechanism can be used as a positioning reference to clamp a free end of the sheet, which is beneficial for the remaining second clamping mechanisms to adjust the orientation of the suction cup assemblies 121 relative to the first clamping mechanism, so as to enable each suction cup assembly 121 to uniformly apply an adsorption clamping force to sheets of different sizes, achieving the purpose of clamping the sheet with high reliability.
[0035] The third drive mechanism 123 can drive the suction cup assemblies 121 of the clamping mechanism 12 to move along the third direction Z, and the third direction Z is perpendicular to both the first direction X and the second direction Y at the same time. During the process of the sheet clamping device 1 clamping the sheet, the third drive mechanism 123 of the first clamping mechanism reciprocally drives the suction cup assemblies 121 in the third direction to generate a shaking effect on at least two adjacent sheets, so that the sheet clamping device 1 only clamps a single sheet. Therefore, under the drive of each third drive mechanism 123, not only can the suction cup assemblies 121 of each clamping mechanism 12 clamp the sheet on the same horizontal plane, ensuring uniform force on the sheet and flat without bending, but also the third drive mechanism 123 of the first clamping mechanism reciprocally drives the suction cup assemblies 121 to move, so as to shake two or more sheets that may be adsorbed together in the third direction, causing the excess sheets to fall under the action of the shaking force and their own gravity, which can significantly reduce the possibility of clamping two or more sheets. In addition, it should be noted that in the present utility model, for each drive mechanism and drive component in the specification, in the case of no conflict, structures such as cylinders, drive rods connected to the cylinders, and adaptable drag chains, guide rails, and guide grooves can be adopted, which are known to those skilled in the art and will not be elaborated here.
[0036] Please refer to Figure 2, preferably, the sheet clamping device 1 further includes a single-sheet detection mechanism 16. The single-sheet detection mechanism 16 includes a support member 161, a detector 162, and a fixing member 163. The fixing member 163 fixes the detector 162 to the support member 161. The detector 162 can specifically adopt an optical detector or an infrared detector. The detector 162 is used to detect the thickness of the sheet clamped by the suction cup assembly 121. During the automated production process, it is necessary to process, such as clean, punch, and weld, only a single sheet of, for example, aluminum sheet each time. When the suction cup assembly clamps more than one sheet, it will have an adverse impact on the subsequent processing. Thus, taking the detector 162 as an infrared detector as an example, it includes an infrared emitter and an infrared receiver that are opposite to each other and have a spaced-apart space. During the process of the manipulator 21 transporting the sheet, the edge portion of the sheet can be moved into the spaced-apart space. When the sheet is a single sheet, the signal sent by the infrared emitter can pass through the sheet and be received by the infrared receiver. Thus, the single-sheet detection mechanism 16 determines that the number of sheets is a single sheet, that is, the detector 162 detects that the thickness of the sheet clamped by the suction cup assembly 121 is the thickness of a single sheet. When there are more than one sheet, the signal sent by the infrared emitter cannot pass through the sheet with an excessive thickness and be received by the infrared receiver. Thus, the single-sheet detection mechanism 16 determines that the number of sheets is more than one, that is, the detector 162 detects that the thickness of the sheet clamped by the suction cup assembly 121 exceeds the thickness of a single sheet. Therefore, by using the single-sheet detection mechanism 16, it can accurately determine whether the sheet clamping device 1 clamps more than one sheet, so as to control the corresponding operations of the sheet clamping device 1 according to the number of sheets, which is beneficial to preventing the possible adverse impacts caused by clamping multiple sheets on the subsequent processing.
[0037] Please refer to Figure 1, Further preferably, the sheet material sorting and handling system further includes a sheet transmission device 4, a bearing table 5, and a placement table 6. The sheet conveying device 4 can adopt a belt transmission method to convey the sheet material in the direction of the robot 2. The bearing table 5 is used to bear at least one sheet of the sheet material conveyed by the sheet conveying device 4. When the sheet conveying device conveys multiple sheets in advance or the conveying speed of the sheet material is faster than the handling speed of the manipulator 21, the bearing table 5 can bear multiple sheets in a stacked manner. When the detector 162 detects that the thickness of the sheet material clamped by the suction cup assembly 121 exceeds the thickness of a single sheet, the manipulator 21 of the robot 2 will move the moving frame 11 above the placement table 6, and the suction cup assembly 121 will release the clamped sheet material onto the placement table 6. Therefore, as described above, when the single-sheet detection mechanism 16 accurately determines that the sheet material clamping device 1 clamps more than one sheet, it is possible to control the cooperation of the manipulator 21 and the suction cup assembly 121 of the sheet material clamping device 1 according to the number of sheets of the sheet material to release the sheets more than one onto the placement table 6, thereby preventing more than one sheet from being transmitted to the next process together and avoiding adverse effects on subsequent processing. Moreover, the sheets stacked on the placement table 6 are convenient for subsequent centralized quality inspection and transfer to be adsorbed and clamped again.
[0038] Please refer to Figure 4 , Specifically, the sheet material clamping device 1 further includes a visual positioning mechanism 15, which is arranged on the first side of the moving frame 11. The visual positioning mechanism 15 includes a visual positioner 151 and a mounting member 152. The two ends of the mounting member 152 are respectively connected to the moving frame 11 and the visual positioner 151, and are used for the visual positioner 151 to position the sheet material clamped by each suction cup assembly 121, so as to determine the orientation of each suction cup assembly 121 acting on the sheet material. For example, the visual positioning mechanism 15 is arranged below the moving frame 11 to be able to position the sheet material to be clamped by the suction cup assembly 121, and judge the distance between the suction cup assembly 121 and the sheet material and / or the orientation of the sheet material that needs to be subjected to the adsorption action of the suction cup assembly 121 by obtaining the distance between the visual positioner 151 and the sheet material and / or the shape of the sheet material, so that the suction cup assembly 121 can control the third driving mechanism 123 and / or the first driving mechanism 13 and the second driving mechanism 122 to drive the suction cup assembly 121 to move according to the distance between it and the sheet material and / or match the shape of the sheet material, so as to achieve accurate and uniform adsorption and clamping of each orientation of the sheet material.
[0039] Please refer to Figures 3 to 5, preferably, the sheet clamping device 1 further includes a plurality of separating mechanisms 14. The separating mechanisms 14 are arranged on the outer side of the clamping mechanism 12 relative to the moving frame 11. The separating mechanism 14 includes a brush member 141 and a connecting frame 142 for fixing the brush member 141. The brush surface of the brush member 141 faces the clamping mechanism 12. The brush can be made of a soft and wear-resistant fiber material to avoid damage to the sheet by the brush. The brush can separate the excess sheets other than the single sheet clamped by the suction cup assembly 121. Therefore, after the suction cup assembly 121 is driven by the third driving mechanism 123 to clamp the sheet and move relative to the brush, or the connecting frame 142 is arranged to be reciprocally movable, the brushes of the plurality of brush members 141 are inserted into the gap between the clamped sheet and the excess sheets, and an acting force in the direction opposite to the adsorption clamping force is applied to the excess sheets in the gap, so as to achieve the purpose of separating the excess sheets on the suction cup assembly 121.
[0040] Preferably, the sheet is a rectangular sheet body. The first direction X is parallel to the long side of the rectangle of the sheet, the second direction Y is parallel to the short side of the rectangle of the sheet, and the transport direction is parallel to the long side of the rectangle of the sheet. A plurality of suction cup assemblies 121 are evenly spaced in the region close to the pair of long sides of the rectangle of the sheet, and a suction cup assembly 121 is correspondingly arranged in each of the four corner regions of the sheet. This is particularly suitable for the piecewise clamping of a plurality of high-precision, thin-sheet and laminated aluminum sheets, and can provide uniform adsorption clamping force for each single aluminum sheet.
[0041] Please refer to Figure 3 , additionally preferably, the clamping mechanism 12 is provided with three. The suction cup assemblies 121 of the clamping mechanism 12 are provided with a pair opposite to each other in the second direction Y. In the direction parallel to the first direction X, a plurality of suction cup assemblies 121 are arranged in two rows in alignment with each other. In the direction parallel to the second direction Y, a plurality of suction cup assemblies 121 are arranged in three columns. In this way, the suction cup assemblies 121 are neatly arranged to provide uniform adsorption clamping force for the sheet, especially for a rectangular sheet.
[0042] Tablet pressing and transporting device
[0043] Please refer to Figure 6, specifically, the transport mechanism 32 of the tablet pressing and transporting device 3 includes a first drive assembly 321, multiple groups of roller assemblies 322, and multiple groups of transmission assemblies 323. The roller assembly 322 includes a first rotating shaft 3221 and a plurality of rollers 3222 provided on the outer periphery of the first rotating shaft 3221. Both ends of the first rotating shaft 3221 respectively pass through the first side plate 34 and the second side plate 35 which are arranged on the mounting frame 311 and are opposite to each other. The plurality of rollers 3222 are preferably spaced from each other at the same interval and are located between the first side plate 34 and the second side plate 35. The rollers drive the sheet material they carry. The transmission assembly 323 is installed outside the first side plate 34, and a transmission assembly 323 is arranged between every two adjacent roller assemblies 322. The transmission assembly 323 includes a pair of sprockets 3231 and a chain 3232 located between the pair of sprockets 3231. One end of each first rotating shaft 3221 is drivingly connected to two adjacent sprockets 3231 through two chains 3232 respectively. The first drive assembly 321 includes a first drive motor 3211 and a first drive shaft 3212 drivingly connected to the first drive motor 3211. The first drive shaft 3212 is transmission-connected to the closest first rotating shaft 3221 through a transition transmission assembly 324. The first drive assembly 321 drives the rollers to rotate through the transition transmission assembly 324 and the transmission assembly 323, thereby driving the sheet material to move along the transport direction. The edge pressing mechanism 33 is located downstream in the transport direction. In this way, the tablet pressing and transporting device 3 can not only transport the sheet material smoothly, but also has a compact overall structure, which is beneficial to saving space and reducing maintenance costs.
[0044] Please refer to Figure 7 , specifically, the edge pressing mechanism 33 includes a support shell 331 provided on the mounting frame 311, a first pressing roller 332 and a second pressing roller 333 that are parallel to each other, relatively arranged and spaced apart, and elastic pressing members 334 provided at both ends of the second pressing roller 333. Both ends of the first pressing roller 332 and the second pressing roller 333 are directly or indirectly rotationally supported by the support shell 331. The elastic pressing member 334 applies an elastic pressing force towards the first pressing roller 332 to the second pressing roller 333. The elastic pressing member 334 may specifically include a pressing rod 3341 and a spring 3342. Then, the pressing rod 3341 applies an elastic pressing force to the end of the second pressing roller 333 under the action of the elastic restoring force of the spring 3342. The gap between the first pressing roller 332 and the second pressing roller 333 has an interference fit with the sheet material. In this way, the edge pressing mechanism 33 can elastically press the sheet material on the opposite sides of the sheet material through the first pressing roller 332 and the second pressing roller 333, and can ensure that the sheet material moves straight during the transportation process.
[0045] The transition drive assembly 324 includes a plurality of transition sprockets 3241 and a plurality of transition chains 3242. A pair of transition sprockets 3241 and a transition chain 3242 are arranged between the first drive shaft 3212 and the roller shaft (not shown) at the end of the first pressing roller. A pair of transition sprockets 3241 and a transition chain 3242 are arranged between the roller shaft at the end of the first pressing roller and the adjacent first rotating shaft 3221. The first drive motor 3211 drives the first pressing roller 332 to rotate through the roller shaft at the end of the first pressing roller. Thus, the first pressing roller 332 and the second pressing roller 333 jointly press the sheet material located therebetween and transport it outside the tablet pressing and transporting device 3. The driving force of the first drive motor 3211 is transmitted to each first rotating shaft 3221 through the transition sprockets 3241 and the transition chains 3242. Since the first pressing roller 332 and each first rotating shaft 3221 are synchronously driven by the first drive motor 3211, it is beneficial to ensure the reliability of sheet edge pressing and the smoothness of transportation.
[0046] Please refer to Figure 6 and Figure 8 , specifically, the tablet pressing and transporting device 3 further includes a second drive assembly 36 and a plurality of guide rails 37 provided on the mounting frame 311. The first guide rails 37 are parallel to each other and the parallel direction is perpendicular to the transportation direction. A plurality of guide feet 38 respectively slidably engaged with the first guide rails 37 are fixed on the second side plate 35. The second drive assembly 36 includes a second drive motor and a second drive shaft driven by the second drive motor. The second drive shaft is connected to the second side plate 35. The second drive motor can drive the second side plate 35 to slide on the corresponding guide rails 37 through the guide feet 38 by forward and reverse rotation to adjust the distance between the first side plate 34 and the second side plate 35 in the direction perpendicular to the transportation direction. In this way, since the distance between the first side plate 34 and the second side plate 35 in the direction perpendicular to the transportation direction can be adjusted, the tablet pressing and transporting device 3 can adapt to various sheet materials of different sizes.
[0047] Please refer to Figure 6 and Figure 8 , additionally preferably, the tablet pressing and transporting device 3 further includes at least one blocking block 39 and a driver (not shown). The driver drives the drive shaft to rotate the blocking block 39, for example, so that the blocking block 39 rises to be in front of the sheet material in the conveying direction, in order to prevent the further conveyance of the sheet material in the case of possible failures of the tablet pressing and transporting device 3 or delays in subsequent processes, etc., and prevent the sheet material from being damaged, providing a guarantee for the elimination of adverse situations such as failures and delays. Of course, in this case, the sheet material clamping device 1 and the tablet pressing and transporting device 3 can also automatically pause operation. After the adverse situation is eliminated, the drive shaft can rotate the blocking block 39 to descend below the bottom surface of the sheet material, so as not to hinder the normal conveyance of subsequent sheet materials.
[0048] Please refer to Figure 6 and Figure 7, additionally preferably, the tablet pressing and transporting device 3 further includes a baffle 310, which is disposed at the end of the mounting frame 311 that is farthest from the edge pressing mechanism 33, that is, the end of the transporting mechanism 32 that is closest to the sheet clamping device 1 or the inlet end where the transporting mechanism 32 receives the sheet released by the suction cup assembly 121. Therefore, the baffle 310 not only serves to guide the sheet onto the transporting mechanism 32, but also prevents the sheet from accidentally hitting the transporting mechanism 32 at the inlet end and affecting the operating reliability of the transporting mechanism 32.
[0049] In summary, the sheet sorting and handling system of the present utility model can highly reliably clamp the sheet in a single piece and with precise positioning through the sheet clamping device 1, and can prevent the sheet from shifting or sliding during transportation through the tablet pressing and transporting device 3, thereby reducing the sheet displacement accuracy.
[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model and are not intended to limit them; although the present utility model 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 described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present utility model. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.
Claims
1. Sheet material sorting and handling system, characterized in that, Comprising: A sheet clamping device, which comprises: A moving frame; A plurality of clamping mechanisms, the plurality of clamping mechanisms are arranged on the first side of the moving frame at intervals along the first direction of the moving frame, and each clamping mechanism includes at least two suction cup assemblies for adsorbing and clamping the sheet; A first driving mechanism, arranged on the first side of the moving frame and driving at least one of the plurality of clamping mechanisms to move along the first direction; A fixed seat, fixed on the second side of the moving frame opposite to the first side; A robot, the manipulator of which is fixed to the fixed seat, and drives the moving frame to drive the clamped sheet to move so as to convey the sheet; A sheet pressing and transporting device, which comprises: A supporting mechanism, including a mounting frame and a supporting frame arranged below the mounting frame; A transporting mechanism, the manipulator of the robot moves the moving frame above the transporting mechanism, the suction cup assembly releases the clamped sheet onto the transporting mechanism, and the transporting mechanism transports the sheet thereon along the transporting direction; A sheet edge pressing mechanism, arranged at an end of the mounting frame relatively far from the sheet clamping device, for pressing the edge of the sheet transported by the transporting mechanism.
2. The sheet material sorting and handling system according to claim 1, characterized in that Each of the clamping mechanisms of the sheet clamping device further includes a second driving mechanism and a third driving mechanism. The second driving mechanism is used to drive the distance between two adjacent suction cup assemblies in the clamping mechanism in a second direction perpendicular to the first direction. The plurality of clamping mechanisms include a first clamping mechanism arranged at one end of the first side of the moving frame in the first direction and a second clamping mechanism arranged at intervals in sequence along the first direction. A pair of the suction cup assemblies of the first clamping mechanism remain in position in the first direction and move closer to or away from each other in the second direction under the drive of the second driving mechanism. For a pair of the suction cup assemblies of the second clamping mechanism, they can move closer to or away from the first clamping mechanism in the first direction under the drive of the first driving mechanism, and can move closer to or away from each other in the second direction under the drive of the second driving mechanism. The third driving mechanism can drive the suction cup assembly of the clamping mechanism to move along a third direction, and the third direction is perpendicular to both the first direction and the second direction at the same time. During the process of the sheet clamping device clamping the sheet, the third driving mechanism of the first clamping mechanism reciprocally drives the suction cup assembly in the third direction so as to generate a shaking effect on at least two adjacent sheets, so that the sheet clamping device only clamps a single sheet.
3. The sheet material sorting and handling system according to claim 1, characterized in that, The sheet clamping device further includes a single sheet detection mechanism, and the single sheet detection mechanism includes a support, a detector and a fixing member. The fixing member fixes the detector to the support, and the detector is used to detect the thickness of the sheet clamped by the suction cup assembly.
4. The sheet material sorting and handling system according to claim 3, wherein The sheet material sorting and handling system further includes a sheet conveying device, a carrying table, and a placing table. The sheet conveying device is used to convey the sheet material in the direction of the robot. The carrying table is used to carry at least one sheet material conveyed by the sheet conveying device. When the detector detects that the thickness of the sheet material clamped by the suction cup assembly exceeds the thickness of a single sheet material, the manipulator of the robot will move the moving frame above the placing table, and the suction cup assembly will release the clamped multiple sheets of sheet material onto the placing table.
5. The sheet material sorting and handling system according to claim 1, wherein, The sheet clamping device further includes a visual positioning mechanism, which is arranged on the first side of the moving frame. The visual positioning mechanism includes a visual locator and a mounting member. The two ends of the mounting member are respectively connected to the moving frame and the visual locator. The visual locator positions the sheet materials clamped by each suction cup assembly, so as to determine the orientation of each suction cup assembly acting on the sheet material.
6. The sheet material sorting and handling system according to claim 1, wherein The sheet clamping device further includes a plurality of separating mechanisms. The separating mechanisms are arranged on the outer side of the clamping mechanism relative to the moving frame. The separating mechanism includes a brush member and a connecting frame for fixing the brush member. The brush surface of the brush member faces the clamping mechanism, and the brush can separate the redundant sheet materials other than the single sheet material clamped on the suction cup assembly.
7. The sheet material sorting and handling system according to claim 2, wherein The sheet material is a rectangular sheet body. The first direction is parallel to the long side of the rectangle of the sheet material, the second direction is parallel to the short side of the rectangle of the sheet material, and the transportation direction is parallel to the long side of the rectangle of the sheet material. A plurality of suction cup assemblies are evenly spaced in the area close to the pair of long sides of the rectangle of the sheet material, and one suction cup assembly is correspondingly arranged in each of the four corner areas of the sheet material.
8. The sheet material sorting and handling system according to claim 1, characterized in that, The transportation mechanism of the sheet pressing and transporting device includes a first driving component, multiple groups of roller components, and multiple groups of transmission components; the roller component includes a first rotating shaft and a plurality of rollers arranged on the outer periphery of the first rotating shaft. The two ends of the first rotating shaft respectively pass through the first side plate and the second side plate which are arranged on the mounting frame and are opposite to each other. The plurality of rollers are located between the first side plate and the second side plate at the same interval. The rollers drive the sheet material carried by them; the transmission component is installed outside the first side plate, and one transmission component is arranged between every two adjacent roller components; the transmission component includes a pair of sprockets and a chain located between the pair of sprockets. One end of each first rotating shaft is drivingly connected to the adjacent two sprockets through two chains respectively; the first driving component includes a first driving motor and a first driving shaft drivingly connected to the first driving motor. The first driving shaft is drivingly connected to the first rotating shaft closest to it through a transition transmission component. The first driving component drives the rollers to rotate through the transition transmission component and the transmission component, so as to drive the sheet material to move along the transportation direction. The edge pressing mechanism is located downstream of the transportation direction.
9. The sheet material sorting and handling system according to claim 8, wherein The blank holding mechanism includes a support shell disposed on the mounting frame, a first pressing roller and a second pressing roller that are parallel and relatively spaced apart, and elastic pressing members disposed at both ends of the second pressing roller. Both ends of the first pressing roller and the second pressing roller are rotatably supported by the support shell. The elastic pressing members apply an elastic pressing force towards the first pressing roller to the second pressing roller. The gap between the first pressing roller and the second pressing roller has an interference fit with the sheet material. The intermediate transmission assembly includes a plurality of intermediate sprockets and a plurality of intermediate chains. A pair of intermediate sprockets and an intermediate chain are arranged between the first drive shaft and the roller shaft at the end of the first pressing roller. A pair of intermediate sprockets and an intermediate chain are arranged between the roller shaft at the end of the first pressing roller and its adjacent first rotating shaft. The first drive motor drives the first pressing roller to rotate through the roller shaft at the end of the first pressing roller. Thus, the first pressing roller and the second pressing roller jointly press the sheet material located therebetween and transport it outside the sheet pressing and transporting device. The driving force of the first drive motor is transmitted to each of the first rotating shafts through the intermediate sprockets and the intermediate chains.
10. The sheet material sorting and handling system according to claim 8, wherein The sheet pressing and transporting device further includes a second drive assembly and a plurality of guide rails disposed on the mounting frame. The guide rails are parallel to each other, and the parallel direction is perpendicular to the transporting direction. A plurality of guide feet respectively slidingly engaged with the guide rails are fixed on the second side plate. The second drive assembly includes a second drive motor and a second drive shaft drivingly connected to the second drive motor. The second drive shaft is connected to the second side plate. The second drive motor can drive the second side plate to slide on the corresponding guide rails through the guide feet by forward and reverse rotation, so as to adjust the distance between the first side plate and the second side plate in the direction perpendicular to the transporting direction.