Paper taking device and thin plate feeding robot provided with same

Abstract

The utility model discloses a paper taking device which comprises a paper taking device installation base, a spring buffering supporting rod, a paper clamping air cylinder, a first paper pressing base, an air cylinder connecting base, a second paper pressing base, a paper sucking suction cup, a paper pressing suction cup, a spring and a positioning mechanism. The spring buffering supporting rod is installed on the paper taking device installation base, and the first paper pressing base is arranged at the bottom of the spring buffering supporting rod; a paper clamping air cylinder is arranged on the first paper pressing base, the telescopic end of the paper clamping air cylinder is connected with an air cylinder connecting base, the air cylinder connecting base is connected with a second paper pressing base through a spring, a paper pressing suction cup is arranged at the bottom of the first paper pressing base, and a paper suction suction cup is arranged at the bottom of the second paper pressing base. The paper pressing suction cup sucks an aluminum plate below the partition paper through the partition paper, the paper pressing effect is achieved, the paper sucking suction cup only sucks the partition paper on the surface layer, the piston of the paper clamping air cylinder 4 retreats, the partition paper is clamped between the first paper pressing base and the second paper pressing base, the paper pressing suction cup stops sucking, the robot drives the paper taking device to ascend, and the partition paper is taken away.

Description

Technical Field

[0001] The utility model relates to the technical field of stamping parts in the automotive industry, especially to the technical field of robots for sheet metal loading.

Background Art

[0002] With the increasing popularity of new energy vehicles, the demand for auto parts is also increasing. Many auto parts are aluminum sheet stampings. When stamping aluminum sheets, they are generally automatically loaded by robots. Among the incoming aluminum material stacks, there are some stacks where there is separator paper between the raw material aluminum sheets. The separator paper is relatively large in size, thin and soft. Simply relying on suction cups to pick up the paper cannot meet the requirements. Currently, the separator paper is sequentially removed manually at the loading position, which is very troublesome.

Content of the Utility Model

[0003] The purpose of the utility model is to solve the problems in the prior art and propose a paper picker and a robot for sheet metal loading equipped with the paper picker, which can solve the above problems.

[0004] To achieve the above purpose, the utility model proposes a paper picker, which includes a paper picker mounting base, a spring buffer support rod, a paper clamping cylinder, a first paper pressing seat, a cylinder connection seat, a second paper pressing seat, a paper suction cup, a paper pressing suction cup, a spring and a positioning mechanism. The spring buffer support rod is mounted on the paper picker mounting base. The bottom of the spring buffer support rod is provided with the first paper pressing seat. The paper clamping cylinder is arranged on the first paper pressing seat. The telescopic end of the paper clamping cylinder is connected with the cylinder connection seat. The cylinder connection seat is connected with the second paper pressing seat through a spring. A positioning mechanism is arranged between the cylinder connection seat and the second paper pressing seat. The bottom of the first paper pressing seat is provided with the paper pressing suction cup, and the bottom of the second paper pressing seat is provided with the paper suction cup.

[0005] Preferably, the top of the spring buffer support rod is provided with a paper pressing suction cup connector, which is connected with a first vacuum generator. The paper pressing suction cup connector is connected with the paper pressing suction cup through a vacuum pipeline. The top of the second paper pressing seat is provided with a paper suction cup connector. The paper suction cup connector is connected with the paper suction cup through a vacuum pipeline, and the paper suction cup connector is connected with a second vacuum generator.

[0006] Preferably, the positioning mechanism includes a guide post and a guide sleeve. The guide post is fixed to the cylinder connection seat. A positioning chute is opened on the second paper pressing seat. The guide sleeve is arranged in the positioning chute. The guide post is installed in the positioning chute. A card slot is arranged at the bottom of the positioning chute, and a limit head is arranged at the bottom of the guide post.

[0007] Preferably, the paper suction cup is a bellows type suction cup, and the paper pressing suction cup is a special suction cup for metal thin plates.

[0008] Preferably, a paper pressing cushion block is provided at the bottom of the second paper pressing seat, and a paper clamping cushion block is provided on one side of the first paper pressing seat close to the second paper pressing seat.

[0009] A robot for feeding thin plates with a paper picker includes a robot, an end effector, and the paper picker. The end effector is arranged at the execution end of the robot, and a plurality of paper pickers are installed on the end effector.

[0010] Preferably, the end effector includes a fixed rod, a plurality of mounting rods are provided on the fixed rod, paper pickers are provided on both sides of the mounting rod, and a plurality of auxiliary paper suction suckers are also installed on the mounting rod. The auxiliary paper suction suckers are installed between the paper pickers on both sides.

[0011] The beneficial effects of the present utility model: The paper pressing sucker of the present utility model sucks through the separator paper to the aluminum plate under the separator paper, playing a role in pressing the paper. The paper suction sucker only sucks the surface separator paper. When the piston of the paper clamping cylinder 4 retracts, the separator paper is clamped between the first paper pressing seat and the second paper pressing seat. The paper pressing sucker stops adsorbing and releases the paper pressing function. Then the robot drives the paper picker to rise, and the separator paper is taken away, eliminating the trouble of manual taking of the separator paper and realizing automatic feeding.

[0012] The features and advantages of the present utility model will be described in detail through embodiments in conjunction with the drawings.

Description of the Drawings

[0013] Figure 1 is a schematic structural diagram of the paper picker of the present utility model;

[0014] Figure 2 is a schematic diagram of the bottom of the paper picker of the present utility model;

[0015] Figure 3 is a top view of the paper picker of the present utility model;

[0016] Figure 4 is Figure 3 a sectional view taken along the A-A plane of

[0017] Figure 5 is Figure 3 a sectional view taken along the B-B plane of

[0018] Figure 6 is a schematic structural diagram of the positioning mechanism of the present utility model;

[0019] Figure 7 is a front view of the paper picker of the present utility model;

[0020] Figure 8 is a left view of the paper picker of the present utility model;

[0021] Figure 9 is a schematic structural diagram of the robot for feeding thin plates with the paper picker of the present utility model;

[0022] Figure 10 is the top view of the robot for thin plate loading of the present utility model;

[0023] Figure 11 is the front view of the robot for thin plate loading of the present utility model;

[0024] Figure 12 is the left view of the robot for thin plate loading of the present utility model.

[0025] In the figure: 1. Paper picker mounting seat; 2. Pressing paper suction cup joint; 3. Spring buffer support rod; 4. Paper clamping cylinder; 5. First paper pressing seat; 6. Cylinder connecting seat; 7. Paper sucking suction cup joint; 8. Second paper pressing seat; 9. Paper pressing pad; 10. Paper sucking suction cup; 11. Paper clamping pad; 12. Pressing paper suction cup; 13. Spring; 14. Positioning mechanism; 15. Fixed rod; 16. Mounting rod; 17. Auxiliary paper sucking suction cup; 141. Guide post; 142. Guide sleeve; 143. Limit head; 81. Positioning chute; 82. Card slot.

Specific embodiments

[0026] Refer to Figure 1-12 , a robot for thin plate loading with a paper picker installed, including a robot, an end effector and a paper picker. The end effector is arranged at the execution end of the robot. A plurality of paper pickers are installed on the end effector. The end effector includes a fixed rod 15. A plurality of mounting rods 16 are provided on the fixed rod 15. Paper pickers are arranged on both sides of the mounting rod 16. A plurality of auxiliary paper sucking suction cups 17 are also installed on the mounting rod 16. The auxiliary paper sucking suction cups 17 are installed between the paper pickers on both sides.

[0027] The paper picker includes a paper picker mounting seat 1, a spring buffer support rod 3, a paper clamping cylinder 4, a first paper pressing seat 5, a cylinder connecting seat 6, a second paper pressing seat 8, a paper sucking suction cup 10, a pressing paper suction cup 12, a spring 13 and a positioning mechanism 14. A spring buffer support rod 3 is installed on the paper picker mounting seat 1. A first paper pressing seat 5 is provided at the bottom of the spring buffer support rod 3. A paper clamping cylinder 4 is provided on the first paper pressing seat 5. The telescopic end of the paper clamping cylinder 4 is connected with a cylinder connecting seat 6. The cylinder connecting seat 6 is connected with a second paper pressing seat 8 through a spring 13. A positioning mechanism 14 is arranged between the cylinder connecting seat 6 and the second paper pressing seat 8. A pressing paper suction cup 12 is provided at the bottom of the first paper pressing seat 5. A paper sucking suction cup 10 is provided at the bottom of the second paper pressing seat 8;

[0028] At the top of the spring buffer rod 3, there is a paper pressing suction cup joint 2. The paper pressing suction cup joint 2 is connected to a first vacuum generator. The paper pressing suction cup joint 2 is communicated with the paper pressing suction cup 12 through a vacuum pipeline. At the top of the second paper pressing seat 8, there is a paper sucking suction cup joint 7. The paper sucking suction cup joint 7 is communicated with the paper sucking suction cup 10 through a vacuum pipeline. The paper sucking suction cup joint 7 is connected to a second vacuum generator;

[0029] The positioning mechanism 14 includes a guide post 141 and a guide sleeve 142. The guide post 141 is fixed to the cylinder connecting seat 6. A positioning chute 81 is formed on the second paper pressing seat 8. The guide sleeve 142 is arranged in the positioning chute 81. The guide post 141 is installed in the positioning chute 81. A clamping groove 82 is arranged at the bottom of the positioning chute 81. A limiting head 143 is arranged at the bottom of the guide post 141;

[0030] The paper sucking suction cup 10 is a multi-fold bellows type suction cup, and the paper pressing suction cup 12 is a 1.5-fold corrugated suction cup for metal sheets;

[0031] At the bottom of the second paper pressing seat 8, there is a paper pressing cushion block 9. On the side of the first paper pressing seat 5 close to the second paper pressing seat 8, there is a paper clamping cushion block 11. Both the paper pressing cushion block 9 and the paper clamping cushion block 11 have anti-slip surfaces.

[0032] The working process of the present utility model:

[0033] During the operation of the utility model, the robot end effector presses down, enabling the paper picker to contact the sheet. After the spring buffer strut 3 is slightly compressed, the robot end effector stops pressing down. The first vacuum generator starts to evacuate, and through the paper pressing suction cup connector 2, the paper pressing suction cup 12 is connected to the vacuum. The paper pressing suction cup 12 will firmly adsorb on the lower aluminum plate through the thin separator paper, causing the first paper pressing seat 5 to tightly press the separator paper. Then the second vacuum generator evacuates, and through the paper suction cup connector 7, it is connected to the paper suction cup 10. The paper suction cup 10 sucks the separator paper. The paper suction cup 10 is a multi-fold bellows suction cup. No matter how much vacuum is provided by the vacuum generator, the paper suction cup 10 will only suck the paper and will not suck through the separator paper to the aluminum plate below the separator paper. The positioning mechanism 14 and the spring 1 between the paper pressing seat 8 and the cylinder connecting plate 6 enable the first paper pressing seat 5 to tightly press the paper, while the pressure of the second paper pressing seat 8 on the paper is not particularly large, and the pressure on the paper can be adjusted by adjusting the elastic force of the internal compression spring 13. A paper pressing pad 9 with a relatively large friction is installed under the second paper pressing seat 8. After the paper suction cup 10 sucks the paper, the piston of the paper clamping cylinder 4 retracts, and the separator paper is pushed by the paper pressing seat 8 towards the paper clamping pad 11. As the cylinder retracts to its in-place position, the separator paper is clamped between the paper pressing seat 8 and the paper clamping pad 11. The paper clamping cylinder 5 remains in the retracted state, the first vacuum generator stops evacuating, and the paper pressing suction cup 12 loses its paper pressing effect. Finally, the robot drives the end effector to rise, and the separator paper is taken away by the paper picker, completing the automatic paper picking process.

[0034] The above embodiments are illustrative of the utility model and not restrictive thereof. Any scheme obtained by simply transforming the utility model falls within the protection scope of the utility model.

Claims

1. A paper picker, characterized in that: It includes a paper pick-up mounting base (1), a spring buffer support rod (3), a paper clamping cylinder (4), a first paper pressing base (5), a cylinder connection seat (6), a second paper pressing base (8), a paper suction sucker (10), a paper pressing sucker (12), a spring (13) and a positioning mechanism (14). A spring buffer support rod (3) is installed on the paper pick-up mounting base (1). A first paper pressing base (5) is provided at the bottom of the spring buffer support rod (3). A paper clamping cylinder (4) is provided on the first paper pressing base (5). The telescopic end of the paper clamping cylinder (4) is connected to a cylinder connection seat (6). The cylinder connection seat (6) is connected to a second paper pressing base (8) through a spring (13). A positioning mechanism (14) is provided between the cylinder connection seat (6) and the second paper pressing base (8). A paper pressing sucker (12) is provided at the bottom of the first paper pressing base (5). A paper suction sucker (10) is provided at the bottom of the second paper pressing base (8).

2. The paper picker according to claim 1, characterized in that: A paper pressing sucker joint (2) is provided at the top of the spring buffer support rod (3). The paper pressing sucker joint (2) is connected to a first vacuum generator. The paper pressing sucker joint (2) is connected to the paper pressing sucker (12) through a vacuum pipeline. A paper suction sucker joint (7) is provided at the top of the second paper pressing base (8). The paper suction sucker joint (7) is connected to the paper suction sucker (10) through a vacuum pipeline. The paper suction sucker joint (7) is connected to a second vacuum generator.

3. The paper picker according to claim 1, characterized in that: The positioning mechanism (14) includes a guide post (141) and a guide sleeve (142). The guide post (141) is fixed to the cylinder connection seat (6). A positioning chute (81) is formed on the second paper pressing base (8). A guide sleeve (142) is provided in the positioning chute (81). The guide post (141) is installed in the positioning chute (81). A clamping groove (82) is provided at the bottom of the positioning chute (81). A limiting head (143) is provided at the bottom of the guide post (141).

4. The paper picker according to claim 1, characterized in that: The paper suction sucker (10) is a bellows-type sucker. The paper pressing sucker (12) is a special sucker for metal thin plates.

5. The paper picker according to claim 1, wherein: A paper pressing cushion block (9) is provided at the bottom of the second paper pressing base (8). A paper clamping cushion block (11) is provided on one side of the first paper pressing base (5) close to the second paper pressing base (8).

6. A robot for feeding thin plates with a paper picker installed thereon, characterized in that: It includes a robot, an end effector and the paper pick-up device according to any one of claims 1 to 5. The end effector is arranged at the execution end of the robot. A plurality of paper pick-up devices are installed on the end effector.

7. The robot for feeding thin plates with a paper picker as described in claim 6, characterized in that: The end effector includes a fixing rod (15). A plurality of mounting rods (16) are provided on the fixing rod (15). Paper pick-up devices are provided on both sides of the mounting rod (16). A plurality of auxiliary paper suction suckers (17) are also installed on the mounting rod (16). The auxiliary paper suction suckers (17) are installed between the paper pick-up devices on both sides.

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