Automatic adsorption mechanical arm for cold-rolled steel strip forming

Abstract

According to the technical scheme, the automatic adsorption mechanical arm for cold-rolled steel strip forming is characterized by comprising a mechanical arm assembly, a positioning assembly, a telescopic assembly and a suction cup assembly, the telescopic assembly and the suction cup assembly are both installed in the positioning assembly, the positioning assembly is installed on the mechanical arm assembly, and the suction cup assembly is connected with the telescopic assembly. Large-range movement is achieved through the mechanical arm, so that a user is protected, potential safety hazards are reduced, the suction cup assembly works cooperatively through negative pressure suction force, and therefore overall lossless grabbing and stable suction are achieved; in this way, the position of the rolling plate can be fixed through adsorption force, the cut portion is kept smooth, and the grabbing action is achieved by generating negative pressure between the tail end executor and the surface of a carried object.

Description

Technical Field

[0001] The utility model relates to a mechanical arm, more specifically, it relates to an automatic adsorption mechanical arm for cold-rolled steel strip forming. Background Art

[0002] An automated robotic arm is an industrial robot arm used to fix the position of objects. In the production of cold-rolled steel strips, most existing devices directly drag the coil base strip out of the material-retrieving device. However, because the base strip is transported in a roll, it still has a certain curvature even after being dragged out and unfolded, and it cannot be cut well in the bent state. Therefore, an automated adsorption robotic arm for cold-rolled steel strip forming is needed. This device can use adsorption force to fix the position of the coil and keep the cutting area smooth. It achieves the "grabbing" action by generating negative pressure between its end effector and the surface of the transported object.

[0003] In view of the above reasons, how to use adsorption force to fix the position of the rolled plate and keep the cutting part smooth is the problem considered in this application. Utility Model Content

[0004] In response to the shortcomings of the existing technology, an automated adsorption robot arm for cold-rolled steel strip forming is provided. The device can use adsorption force to fix the position of the coil and keep the cutting area smooth, and achieve the "grabbing" action by generating negative pressure between its end effector and the surface of the transported object.

[0005] To achieve the above-mentioned purpose, the following technical solution is provided: an automated adsorption robot arm for cold-rolled steel strip forming, comprising a robot arm assembly, a positioning assembly, a telescopic assembly and a suction cup assembly, wherein the telescopic assembly and the suction cup assembly are both installed in the positioning assembly, the positioning assembly is installed in the robot arm assembly, the suction cup assembly is connected to the telescopic assembly, and the telescopic assembly is used to drive the suction cup assembly to achieve a negative suction function;

[0006] When not in operation, the robot arm assembly rotates, the positioning assembly moves away from the operating machine, the telescopic assembly extends, and the suction cup assembly releases the object;

[0007] During operation, the robotic arm assembly rotates, the positioning assembly moves close to the operating machine, the telescopic assembly shortens, and the suction cup assembly absorbs the object.

[0008] In summary, the above technical solution has the following beneficial effects: the coil base itself is relatively large in size, and when used as an object to be transferred, the transfer structure needs to have a large range of motion capabilities. The robotic arm assembly can provide a large range of motion capabilities through rotation, thereby moving the positioning assembly, the telescopic assembly and the suction cup assembly to the target area. The positioning assembly is installed at the end of the robotic arm to ensure that the suction cup assembly can accurately align with the preset adsorption point of the target object. The telescopic assembly is installed in the positioning assembly and is responsible for shortening or extending the suction cup assembly to achieve adsorption or release. The suction cup assembly contacts the surface of the object under the drive of the telescopic assembly and generates negative pressure through vacuum to achieve adsorption. The object is released when the negative pressure is disconnected.

[0009] The entire process can be completed automatically, significantly reducing manual intervention. The suction and release of objects are controlled by the rotation of the robotic arm assembly, which can improve production efficiency and continuity. Negative pressure suction is a soft-contact grasping method. During grasping, the surface of the object is subjected to force at the negative suction position, thereby keeping this position smooth, facilitating subsequent cutting operations, and ensuring precise alignment with the preset target point.

[0010] In addition, by replacing suction cups of different sizes, shapes, and materials, it can adapt to a variety of different objects, and the robotic arm assembly can be equipped with additional structures to handle roll bases at different positions and angles;

[0011] The utility model uses a robotic arm to achieve a large range of movement to protect users and reduce safety hazards. The suction cup assembly works together to generate negative pressure adsorption force, thereby achieving overall lossless grasping and stable adsorption. In this way, the adsorption force can be used to fix the position of the rolled plate and keep the cutting area smooth. The "grabbing" action is achieved by generating negative pressure between its end effector and the surface of the transported object. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the three-dimensional structure of the automatic adsorption robot arm for cold-rolled steel strip forming when adsorbing an object;

[0013] Figure 2 for Figure 1 A partial enlarged view of point A in the middle;

[0014] Figure 3 This is a schematic diagram of the three-dimensional structure of the positioning component in the present invention when releasing an object.

[0015] Reference numerals: 1, robotic arm assembly; 2, positioning assembly; 3, telescopic assembly; 4, suction cup assembly;

[0016] 11. Housing; 12. Transmission shaft; 13. Second transmission wheel; 14. Transmission belt;

[0017] 21. Base; 22. Receiving groove; 23. Elastic sealing gasket;

[0018] 31. Threaded shaft; 32. Threaded sleeve; 33. Transmission rod; 34. First transmission wheel; 35. Interference member;

[0019] 41. Disc body; 42. Sealing cap; 43. Flexible sealing element; 44. Ventilation channel. DETAILED DESCRIPTION

[0020] The present invention will be further described below in conjunction with the accompanying drawings and embodiments. Identical components are denoted by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to directions in the accompanying drawings, and the terms "bottom," "top," "inner," and "outer" refer to directions toward or away from the geometric center of a particular component, respectively.

[0021] Reference Figure 1-3 As shown, the automatic adsorption robot arm for cold-rolled steel strip forming includes a robot arm assembly 1, a positioning assembly 2, a telescopic assembly 3 and a suction cup assembly 4. The telescopic assembly 3 and the suction cup assembly 4 are both installed in the positioning assembly 2, the positioning assembly 2 is installed in the robot arm assembly 1, and the suction cup assembly 4 is connected to the telescopic assembly 3. The telescopic assembly 3 is used to drive the suction cup assembly 4 to achieve a negative suction function;

[0022] When not in operation, the robot arm assembly 1 rotates, the positioning assembly 2 moves away from the operating machine, the telescopic assembly 3 extends, and the suction cup assembly 4 releases the object;

[0023] During operation, the robot arm assembly 1 rotates, the positioning assembly 2 moves close to the operating machine, the telescopic assembly 3 shortens, and the suction cup assembly 4 absorbs the object.

[0024] The roll base tape itself is relatively large in size, and when used as an object to be transferred, the transfer structure needs to have a wide range of motion capabilities. The robotic arm assembly 1 can provide a wide range of motion capabilities through rotation, thereby moving the positioning assembly 2, the telescopic assembly 3 and the suction cup assembly 4 to the target area. The positioning assembly 2 is installed at the end of the robotic arm to ensure that the suction cup assembly 4 can accurately align with the preset adsorption point of the target object. The telescopic assembly 3 is installed in the positioning assembly 2 and is responsible for shortening or extending to drive the suction cup assembly 4 to achieve adsorption or release. The suction cup assembly 4 contacts the surface of the object under the drive of the telescopic assembly 3 and generates negative pressure through vacuum to achieve adsorption. The object is released when the negative pressure is disconnected.

[0025] The entire process can be completed automatically, significantly reducing manual intervention. The adsorption and release of objects are controlled by the rotation of the robotic arm assembly 1, which can improve production efficiency and continuity. Negative pressure adsorption is a soft-contact grasping method, and when grasping, the surface of the object at the negative suction position can be subjected to force, thereby keeping this position smooth, facilitating subsequent cutting operations, and ensuring accurate alignment with the preset target point.

[0026] In addition, by replacing the suction cup assembly 4 with different sizes, shapes and materials, it can adapt to a variety of different objects, and the robot arm assembly 1 can be equipped with additional structures to handle the roll base belts at different positions and angles;

[0027] The utility model uses a robotic arm to achieve a large range of movement to protect users and reduce safety hazards. The suction cup assembly 4 works together to generate negative pressure adsorption force, thereby achieving overall lossless grasping and stable adsorption. In this way, the adsorption force can be used to fix the position of the rolled plate and keep the cutting part smooth. The "grabbing" action is achieved by generating negative pressure between its end effector and the surface of the transported object.

[0028] Furthermore, the positioning assembly 2 includes a base 21, a receiving groove 22 is provided on the base 21, the telescopic assembly 3 includes a threaded shaft 31 and a threaded sleeve 32, and the suction cup assembly 4 includes a disc body 41, the outer side of the disc body 41 is fixedly connected to the inner wall of the receiving groove 22, and the center of the disc body 41 is fixedly connected to the threaded sleeve 32.

[0029] Furthermore, the disc body 41 is an elastic member.

[0030] Furthermore, the suction cup assembly 4 also includes a sealing cap 42 and a flexible seal 43. The sealing cap 42 is provided with a ventilation channel 44. The sealing cap 42 is fixedly connected to the threaded sleeve 32. The sealing cap 42 is arranged in the accommodating groove 22. The ventilation channel 44 connects the inside and outside of the sealing cap 42. The flexible seal 43 is fixedly connected to the sealing cap 42 to form a relatively closed space inside the sealing cap 42.

[0031] Although the disc 41 is an elastic member, it does not actually allow the threaded sleeve 32 to rotate. Therefore, the threaded shaft 31 can achieve the up and down movement of the threaded sleeve 32 by rotating, and ultimately drive the disc 41 to move. The interior of the disc 41 and the surface of the object form a first cavity. For safety reasons, an additional redundant mechanism is required, so a blocking cap 42 and a flexible sealing member 43 are provided to form a second cavity. At the same time, the first cavity and the second cavity are connected.

[0032] As the threaded sleeve 32 moves, the disc 41 can change the volume of the first cavity, and the air pressure in the first cavity will also change accordingly. During this process, since the second cavity is connected to the first cavity, in order to achieve the negative suction effect, the flexible seal 43 needs to have a strong deformation resistance. When and only when the air pressure in the first cavity changes abnormally, the flexible seal 43 will deform, causing the volume and air pressure of the second cavity to change to compensate for the abnormal change in the first cavity.

[0033] When the threaded sleeve 32 is in the extended state, the object can be placed normally on the positioning assembly 2 and is located above the suction cup assembly 4. At this time, the blocking cap 42 is in contact with the surface of the object, and the first cavity and the second cavity are both at standard atmospheric pressure.

[0034] When the threaded sleeve 32 is in a shortened state, the sealing cap 42 is separated from the surface of the object. At this time, the first cavity and the second cavity form a closed space. As the sealing cap 42 gradually moves away from the surface of the object, the volume of the first cavity becomes smaller, and a negative pressure is formed in the closed space. However, the outside of the disc body 41 is in a standard atmospheric pressure state, so the atmospheric pressure squeezes the disc body 41 to automatically seal and fill the gap with the product surface. Under the action of atmospheric pressure, the suction cup assembly 4 gradually adsorbs the product.

[0035] Furthermore, the positioning assembly 2 further includes an elastic sealing gasket 23 , which is fixedly connected to the top of the base 21 and is used to contact the surface of an object.

[0036] In order to make the enclosed space formed by the first cavity more stable, a deformable elastic sealing gasket 23 is provided to contact the surface of the object. The elastic deformation of the elastic sealing gasket 23 compensates for the unevenness of the object surface, thereby better keeping the surface of the object smooth.

[0037] Furthermore, the telescopic assembly 3 also includes a transmission rod 33 and a first transmission wheel 34. The robotic arm assembly 1 includes a shell 11, a transmission shaft 12, a second transmission wheel 13 and a transmission belt 14. The first transmission wheel 34 is rotatably connected to the base 21. The connecting section of the transmission rod 33 is fixedly connected to the threaded shaft 31 and the first transmission wheel 34 respectively. The two ends of the second transmission wheel 13 are fixedly connected to the shell 11 and the transmission shaft 12 respectively. The first transmission wheel 34 is connected to the second transmission wheel 13 through the transmission belt 14. The shell 11 is fixedly connected to the base 21.

[0038] When the robotic arm assembly 1 rotates, the transmission shaft 12 needs to be lowered as a rotation fulcrum, so the transmission shaft 12 also drives the first transmission shaft 12 to rotate through the second transmission shaft 12 and the transmission belt 14, that is, the transmission motion of the robotic arm assembly 1 is converted into the lifting and lowering of the threaded sleeve 32. In this way, when the robotic arm assembly 1 moves the object to the work site, the suction cup assembly 4 will tightly adsorb the object, and when it returns to the staff end, the suction cup assembly 4 will release the object, thereby speeding up the overall working efficiency.

[0039] Furthermore, a resisting member 35 is fixedly connected to the threaded sleeve 32 , and the resisting member 35 is used to resist the threaded shaft 31 .

[0040] In order to prevent the threaded shaft 31 from excessively moving and pushing out the blocking cap 42 , a resisting member 35 is provided to hinder the threaded shaft 31 from excessively moving.

[0041] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, certain improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. Automated adsorption robot arm for cold-rolled steel strip forming, characterized in that: It includes a mechanical arm assembly, a positioning assembly, a telescopic assembly and a suction cup assembly. The telescopic assembly and the suction cup assembly are both installed in the positioning assembly. The positioning assembly is installed in the mechanical arm assembly. The suction cup assembly is connected to the telescopic assembly. The telescopic assembly is used to drive the suction cup assembly to achieve a negative suction function. When not in operation, the robot arm assembly rotates, the positioning assembly moves away from the operating machine, the telescopic assembly extends, and the suction cup assembly releases the object; During operation, the robotic arm assembly rotates, the positioning assembly moves close to the operating machine, the telescopic assembly shortens, and the suction cup assembly absorbs the object.

2. The automatic adsorption robot arm for cold-rolled steel strip forming according to claim 1, characterized in that: The positioning assembly includes a base, a receiving groove is provided on the base, the telescopic assembly includes a threaded shaft and a threaded sleeve, the suction cup assembly includes a disc body, the outer side of the disc body is fixedly connected to the inner wall of the receiving groove, and the center of the disc body is fixedly connected to the threaded sleeve.

3. The automatic adsorption robot arm for cold-rolled steel strip forming according to claim 2, characterized in that: The disc body is an elastic member.

4. The automatic adsorption robot arm for cold-rolled steel strip forming according to claim 2, characterized in that: The suction cup assembly also includes a sealing cap and a flexible sealing member. The sealing cap is provided with a ventilation channel. The sealing cap is fixedly connected to the threaded sleeve. The sealing cap is arranged in the receiving groove. The ventilation channel connects the inside and outside of the sealing cap. The flexible sealing member is fixedly connected to the sealing cap to form a relatively closed space inside the sealing cap.

5. The automatic adsorption robot arm for cold-rolled steel strip forming according to claim 4, characterized in that: The positioning assembly also includes an elastic sealing gasket, which is fixedly connected to the top of the base and is used to contact the surface of an object.

6. The automatic adsorption robot arm for cold-rolled steel strip forming according to claim 5, characterized in that: The telescopic assembly also includes a transmission rod and a first transmission wheel, and the robotic arm assembly includes a shell, a transmission shaft, a second transmission wheel and a transmission belt. The first transmission wheel is rotatably connected to the base, and the connecting section of the transmission rod is fixedly connected to the threaded shaft and the first transmission wheel respectively. The two ends of the second transmission wheel are fixedly connected to the shell and the transmission shaft respectively. The first transmission wheel is connected to the second transmission wheel through a transmission belt, and the shell is fixedly connected to the base.

7. The automatic adsorption robot arm for cold-rolled steel strip forming according to claim 6, characterized in that: A resisting piece is also fixedly connected in the threaded sleeve, and the resisting piece is used to resist the threaded shaft.

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