Surface selecting suction cup manipulator device and surface selecting and feeding and discharging system

Abstract

The utility model relates to the technical field of feeding and discharging equipment, and discloses a face selecting suction cup mechanical arm device and a face selecting and feeding and discharging plate system.The face selecting suction cup mechanical arm device comprises a portal frame, a suction cup assembly, an overturning driving mechanism and a transferring mechanism, the overturning driving mechanism is provided with an overturning shaft in the portal frame, and the overturning shaft is connected with the suction cup assembly; the turnover driving mechanism can drive the suction cup assembly to turn over by at least 180 degrees around the center of the turnover shaft, and the transferring mechanism is used for driving at least one of the portal frame and the turnover driving mechanism to horizontally move in the direction crossed with the axial direction of the turnover shaft. The surface-selecting sucker manipulator device is safer and more efficient in plate loading and unloading.

Description

Technical Field

[0001] The utility model relates to the technical field of loading and unloading equipment, in particular to a surface selection suction cup manipulator device and a surface selection upper and lower plate system. Background Art

[0002] After marble, granite, and inorganic stone blocks (hereinafter referred to as blocks) are cut into slabs, they need to be transported, surface-selected, and processed online. When stacking slabs below the polishing line, the outermost slab needs to be turned over, with the bottom facing outward.

[0003] At present, the equipment used to cut rough stones into upper slabs and lower slabs for polishing and grinding stone slabs mainly includes roller tables, tipping cars, support frames and overhead cranes.

[0004] When the rough material is cut into stone slabs, the overhead crane manually lifts the stone slabs and places them on the support frame. The tipping car flips over and moves to place the stone slabs on the roller table. When the stone slabs need to be selected and put on the line, the tipping car flips over, and the overhead crane manually lifts the stone slabs, flips them over and puts them back on the tipping car. The tipping car continues to move and place the stone slabs on the roller table.

[0005] When the stone slab is polished and lowered, the roller table transports the stone slab to the tipping car, which flips over and moves along the guide rail to place the stone slab on the board rack for stacking. After the last stone slab on the stack is placed on the front of the tipping car and flipped over, the stone slab is manually lifted by the overhead crane, turned over and put back on the tipping car, which continues to move and place the stone slab on the board rack for stacking.

[0006] Because the existing stone slab surface selection and loading and unloading equipment needs to manually lift the stone slab and turn it over when the rough material is cut into stone slabs, it is labor-intensive and has the risk of cracking or falling. Similarly, when the stone slab is polished and ground, the last piece in the stack needs to be manually lifted and turned over, which is labor-intensive.

[0007] Therefore, it is necessary to develop a surface selection suction cup manipulator device that is safer for upper and lower plates. Utility Model Content

[0008] The technical problem to be solved by the utility model is to provide a surface selection suction cup manipulator device, which is safer and more efficient in raising and lowering plates.

[0009] In order to solve the above technical problems, the utility model provides a surface selection suction cup manipulator device, including a gantry, a suction cup assembly, a flip drive mechanism, and a transfer mechanism. The flip drive mechanism is provided with a flip axis in the gantry, and the flip axis is connected to the suction cup assembly. The flip drive mechanism can drive the suction cup assembly to flip at least 180° around the center of the flip axis, and the transfer mechanism is used to drive at least one of the gantry and the flip drive mechanism to translate in a direction intersecting with the axial direction of the flip axis.

[0010] As an improvement of the above scheme, the transfer mechanism includes a lifting drive mechanism and a walking drive mechanism. The lifting drive mechanism is connected to the flipping drive mechanism and is used to drive the flipping drive mechanism to move the suction cup assembly up and down. The walking drive mechanism is used to drive the gantry to move horizontally.

[0011] As an improvement to the above solution, the suction cup assembly is provided with a plurality of adsorption units, and the air passage of each adsorption unit can be started and stopped independently.

[0012] As an improvement of the above solution, the suction cup assembly includes a first beam and a suction cup mounting member, the first beam is arranged parallel to the flip axis, the suction cup mounting member is arranged along the extension direction of the first beam, and each suction cup mounting member is provided with multiple adsorption units.

[0013] As an improvement to the above solution, the flip drive mechanism can drive the suction cup assembly to flip 360° within the gantry.

[0014] In addition, the utility model also provides a surface selection upper and lower plate system, which includes a roller conveyor platform, a support plate frame and the above-mentioned surface selection suction cup manipulator device, and the transfer mechanism can drive the gantry to move back and forth to cross the roller conveyor platform or the support plate frame.

[0015] As an improvement of the above-mentioned solution, the roller conveyor platform includes a support frame and a roller unit, the roller units are arranged on the support frame, and at least one end of the roller unit is suspended, and the suction cup assembly can extend from the suspended end of the roller unit and / or the bottom of the roller unit into between two adjacent roller units.

[0016] As an improvement of the above-mentioned solution, the suction cup assembly includes a first crossbeam and a suction cup mounting member, the first crossbeam is arranged parallel to the flip axis, the suction cup mounting members are arranged along the extension direction of the first crossbeam, and each of the suction cup mounting members is provided with a plurality of adsorption units. When the gantry moves to cross the roller conveyor platform, each of the suction cup mounting members can extend between two adjacent roller units.

[0017] As an improvement to the above solution, the flip drive mechanism can drive the suction cup assembly to flip 360° within the gantry.

[0018] As an improvement of the above-mentioned scheme, the support frame includes a base frame, a first support column, a second support column, a second cross beam, and a third cross beam. The second cross beam is arranged at one end of the roller unit, and the third cross beam is arranged between the second cross beam and the center position of the roller unit. The first support column is connected to the end of the second cross beam and the end of the base frame, and the second support column is connected to the third cross beam and the base frame. The distance between the top of the first support column and the top of the second support column is greater than the distance between the bottom of the first support column and the bottom of the second support column.

[0019] As an improvement to the above solution, it further includes a first guide rail, the roller conveying platform and the support plate frame are both arranged between two oppositely arranged groups of the first guide rails, and the transfer mechanism drives the gantry to translate along the first guide rails.

[0020] As an improvement to the above solution, it further includes a second guide rail, the extension direction of which is arranged to intersect with the extension direction of the first guide rail, the support frame can move along the second guide rail, the first guide rail and the second guide rail are both disconnected at the intersection position, the gantry is provided with a multi-wheel walking device, the multi-wheel walking device is provided with at least two walking wheels, and the distance between two adjacent walking wheels is greater than the distance at which the first guide rail is disconnected.

[0021] The implementation of this utility model has the following beneficial effects:

[0022] The utility model discloses a surface selection suction cup manipulator device, by arranging a turning axis in a gantry, a turning drive mechanism can drive the suction cup assembly to turn at least 180 degrees around the center of the turning axis, the suction cup assembly is driven to turn by the turning drive mechanism, and the gantry is driven to translate along the direction intersecting with the axial direction of the turning axis by the transfer mechanism, so that the suction cup assembly can adsorb the top surface or bottom surface of the stone slab on the roller conveyor table, or place the adsorbed stone slab with the top surface upward or the bottom surface upward on the roller conveyor table, thereby realizing surface selection adsorption and transfer of the stone slab on the roller conveyor table, and there is no need to manually lift the stone slab to turn it over during the surface selection loading and unloading process of the stone slab, so the loading and unloading of the slabs is safer and more efficient.

[0023] In addition, the utility model also discloses a surface selection and upper and lower plate system, which realizes the suction and placement of plates from top to bottom or from bottom to top through the cooperation of the surface selection suction cup manipulator device, the roller conveyor platform and the plate support frame, and realizes the change from the flat state of the plate on the roller table to the selected surface stacked state on the plate support frame, or from the stacked state on the plate support frame to the selected surface flat state on the roller table. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] FIG1 is a schematic structural diagram of an embodiment of a surface selection suction cup manipulator device of the present invention;

[0025] FIG2 is a schematic structural diagram of the surface selection suction cup manipulator device and the roller conveyor platform in FIG1 working in conjunction with each other;

[0026] FIG3 is a schematic structural diagram of an embodiment of a surface selection upper and lower plate system of the present invention;

[0027] FIG4 is a schematic diagram of the suction cup assembly adsorbing the top surface of the stone slab on the roller conveyor platform;

[0028] FIG5 is a schematic diagram of the suction cup assembly adsorbing the bottom surface of the stone slab on the roller conveyor platform;

[0029] FIG6 is a schematic structural diagram of the suction cup assembly and the roller conveyor platform. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in further detail below with reference to the accompanying drawings.

[0031] As shown in Figures 1 and 2, the utility model discloses an embodiment of a surface selection suction cup manipulator device, including a gantry 1, a suction cup assembly 2, a flip drive mechanism 3, and a transfer mechanism. The flip drive mechanism 3 is connected to the suction cup assembly 2, and the flip drive mechanism 3 is provided with a flip axis 31 in the gantry 1. The flip drive mechanism 3 can drive the suction cup assembly 2 to flip at least 180° around the center of the flip axis 31, and the transfer mechanism is used to drive at least one of the gantry 1 and the flip drive mechanism 3 to translate in a direction intersecting with the axial direction of the flip axis 31.

[0032] In this embodiment, a turning axis 31 is set in the gantry 1, and the turning drive mechanism 3 can drive the suction cup assembly 2 to turn at least 180° around the center of the turning axis 31. The suction cup assembly 2 is driven to turn by the turning drive mechanism 3, and the gantry 1 is driven to translate along the direction intersecting the axial direction of the turning axis 31 by the transfer mechanism, so that the suction cup assembly 2 can adsorb the top surface or bottom surface of the stone slab A on the roller conveyor platform 6, or place the adsorbed stone slab A with the top surface facing up or the bottom surface facing up on the roller conveyor platform 6, so as to realize surface selection adsorption and transfer of the stone slab A on the roller conveyor platform 6. In the process of surface selection and loading and unloading of the stone slab A, there is no need to manually lift the stone slab A to turn it over, and the loading and unloading of the plates are safer and more efficient.

[0033] Specifically, the flip axis 31 of this embodiment is arranged horizontally, and the transfer mechanism includes a lifting drive mechanism 4 and a walking drive mechanism 5. The lifting drive mechanism 4 is connected to the flip drive mechanism 3, and is used to drive the flip drive mechanism 3 to drive the suction cup assembly 2 to move up and down. The walking drive mechanism 5 is used to drive the gantry 1 to move horizontally, so that the suction cup assembly 2 can move accurately to absorb or place the stone slab A.

[0034] The tilting drive mechanism 3 also includes a tilting drive motor for driving the rotation of the tilting shaft 31. The lifting drive mechanism 4 includes a driving wheel, a driven wheel, a transmission belt, and a lifting drive motor. The tilting drive mechanism 3 is fixedly connected to the transmission belt, and the lifting drive motor is connected to the driving wheel. The driving wheel drives the transmission belt and the driven wheel to move.

[0035] Preferably, the suction cup assembly 2 is provided with a plurality of suction units 21 (i.e., suction cups), and the air passage of each suction unit 21 can be independently started and stopped. By grouping and independently starting and stopping the suction units 21, it is convenient to suck stone slabs A of different sizes.

[0036] In addition, as shown in Figures 3 to 6, the utility model also provides an embodiment of a surface selection upper and lower plate system, which includes a roller conveyor platform 6, a support plate frame 7 and the above-mentioned surface selection suction cup manipulator device, and the transfer mechanism can drive the gantry 1 to move back and forth to cross the roller conveyor platform 6 or the support plate frame 7.

[0037] Specifically, the roller conveyor platform 6 and the support plate frame 7 are both arranged between two oppositely arranged groups of first guide rails 8, and the gantry 1 spans the two oppositely arranged groups of first guide rails 8. The walking drive mechanism 5 can drive the gantry 1 to move horizontally along the first guide rails 8, thereby realizing the reciprocating movement of the gantry 1 to the position of the roller conveyor platform 6 and the position of the support plate frame 7.

[0038] The flip drive mechanism 3 is preferably capable of driving the suction cup assembly 2 to flip 360 degrees within the gantry 1. The suction cup assembly 2 has better flipping flexibility, enabling 360-degree pick-up and placement of plates, which can help improve the efficiency of selecting and loading plates. According to production needs, a support plate frame 7 can be set on the left and / or right side of the roller conveyor table 6. Since the suction cup assembly 2 flips 360 degrees within the gantry 1, as the travel drive mechanism 5 drives the gantry 1 to move along the first guide rail 8 between the roller conveyor table 6 and the support plate frame 7 on its left and / or right side, flexible surface selection and loading and unloading of plates can be achieved, which is more convenient for the layout of the production space.

[0039] When the rough material is cut into stone slabs A, the travel drive mechanism 5 drives the gantry 1 to move along the first guide rail 8, and the surface selection suction cup robot device takes the slab from the slab support frame 7. After taking the slab, the surface selection suction cup robot device selects the surface and places the slab on the roller conveyor table 6 for transportation.

[0040] When the stone slab A is polished offline, the travel drive mechanism 5 drives the gantry 1 to move along the first guide rail 8. The surface selection suction cup robot device first selects the surface and takes the slab from the roller conveyor platform 6. After taking the slab, the surface selection suction cup robot device places the slab on the plate support frame 7 for stacking.

[0041] To facilitate the selection of upper and lower plates, this embodiment improves the roller conveyor platform 6. The roller conveyor platform 6 of this embodiment specifically includes a support frame and roller units 62. The roller units 62 are arranged on the support frame, and at least one end of the roller unit 62 is suspended. The suction cup assembly 2 can extend from the suspended end of the roller unit 62 and / or the bottom of the roller unit 62 into the space between two adjacent roller units 62.

[0042] Because each roller unit 62 is cantilevered, the suction unit 21 on the suction cup assembly 2 can freely move in and out between the two roller units 62 from the cantilevered ends of the roller units 62. This allows the suction cup assembly 2 to absorb not only the top surface of the stone slab A on the roller conveyor 6, but also the bottom surface, achieving surface selection and placement. Similarly, a stone slab A held by the suction cup assembly 2 can be placed on the roller conveyor 6 with the surface attached to the suction unit 21 facing upward, or with the surface attached to the suction unit 21 facing downward, achieving surface selection and placement.

[0043] The support frame of the roller conveyor platform 6 in this embodiment specifically includes a base frame 611, a first support column 612, a second support column 613, a second crossbeam 614, and a third crossbeam 615. The base frame 611 is fixed to the ground base, the second crossbeam 614 is located at one end of the roller unit 62, and the third crossbeam 615 is located between the second crossbeam 614 and the center of the roller unit 62. The first support column 612 is connected to the end of the second crossbeam 614 and the end of the base frame 611, and the second support column 613 is connected to the third crossbeam 615 and the base frame 611. The distance between the top of the first support column 612 and the top of the second support column 613 is greater than the distance between the bottom of the first support column 612 and the bottom of the second support column 613. In this embodiment, the second support column 613 is preferably arranged vertically. The center of gravity of the structure composed of the second crossbeam 614 and the roller unit 62 connected thereto is made closer to the center of gravity of the base frame 611 , so as to improve the structural stability of the entire roller conveying platform 6 .

[0044] The suction cup assembly 2 of this embodiment further includes a first crossbeam 22 and a suction cup mounting member 23. The first crossbeam 22 is arranged parallel to the tilt axis 31. The suction cup mounting members 23 are arranged along the extension direction of the first crossbeam 22. Each suction cup mounting member 23 is provided with a plurality of suction units 21 (i.e., suction cups). The suction units 21 and the first crossbeam 22 are located on opposite sides of the suction cup mounting member 23. When the gantry 1 moves across the roller conveyor platform 6, each suction cup mounting member 23 can extend between two adjacent roller units 62, thereby sucking the bottom surface of the stone slab A on the roller conveyor platform 6, or placing the stone slab A on the roller conveyor platform 6 with the surface sucked by the suction units 21 facing downward.

[0045] Since the air passage of each adsorption unit 21 on the suction cup assembly 2 can be started and stopped independently, stone slabs A of different sizes can be sucked by grouping and independently starting and stopping the adsorption units 21.

[0046] The surface selection upper and lower plate system of this embodiment also includes a second guide rail 9, the extension direction of the second guide rail 9 is arranged to cross the extension direction of the first guide rail 8, and the support plate frame 7 can move along the second guide rail 9 to facilitate the transfer and transportation of the support plate frame 7.

[0047] When the rough material is cut into stone slabs A for loading, the support frame 7 can use the rough material cart that comes with the sawing equipment. The rough material cart is provided with a plug-in plate, which can be used to place the stone slab A. The support frame 7 walks on the second guide rail 9 and can directly transport the stone slab A from the sawing equipment to the surface selection suction cup manipulator device for loading.

[0048] To avoid interference between the first guide rail 8 and the second guide rail 9, in this embodiment, the first guide rail 8 and the second guide rail 9 are both disconnected at the intersection. The gantry 1 is provided with a multi-wheeled traveling device 11, which is driven by the traveling drive mechanism 5 and is provided with at least two traveling wheels 111 connected to the same guide bracket. The guide bracket enables the traveling wheels 111 mounted thereon to maintain the same forward direction, and the distance between two adjacent traveling wheels 111 is greater than the distance of the disconnection of the first guide rail 8. When one of the traveling wheels 111 of the multi-wheeled traveling device 11 enters the disconnected position of the first guide rail 8, the other traveling wheel 111 is in the first guide rail 8, thereby ensuring that the gantry 1 runs smoothly on the disconnected first guide rail 8.

[0049] The surface selection and upper and lower plate system of this embodiment cooperates with a surface selection suction cup manipulator device with a multi-wheel walking device 11, a walking drive mechanism 5, a flipping drive mechanism 3 and a lifting drive mechanism 4, as well as a roller conveyor table 6 and a support plate frame 7 that can move along the second guide rail 9 to realize the suction and placement of plates from top to bottom or from bottom to top, and realize the plate from a flat state on the roller table to a surface selection stacked state on the support plate frame 7, or from a stacked state on the support plate frame 7 to a surface selection flat state on the roller table.

[0050] Compared to the process flow for polishing and grinding the lower plate of stone slab A, the surface selection and upper and lower plate system of this embodiment eliminates the manual lifting and turning of stone slab A, greatly improving efficiency and saving labor, and significantly reducing the risk of cracking and safety hazards. Compared to the existing process flow for cutting rough stone into upper plate of stone slab A, the surface selection and upper and lower plate system of this embodiment eliminates the overhead crane transfer and manual lifting and turning of stone slab A, greatly improving efficiency and saving labor, and significantly reducing the risk of cracking and safety hazards.

[0051] The above disclosure is only a preferred embodiment of the present invention and certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope covered by the present invention.

Claims

1. A surface selection suction cup manipulator device, characterized in that: It includes a gantry, a suction cup assembly, a flip drive mechanism, and a transfer mechanism. The flip drive mechanism is provided with a flip axis in the gantry, and the flip axis is connected to the suction cup assembly. The flip drive mechanism can drive the suction cup assembly to flip at least 180° around the center of the flip axis. The transfer mechanism is used to drive at least one of the gantry and the flip drive mechanism to translate in a direction intersecting the axial direction of the flip axis.

2. The surface selection suction cup robot device according to claim 1, characterized in that: The transfer mechanism includes a lifting drive mechanism and a walking drive mechanism. The lifting drive mechanism is connected to the flip drive mechanism and is used to drive the flip drive mechanism to drive the suction cup assembly to move up and down. The walking drive mechanism is used to drive the gantry to move horizontally.

3. The surface selection suction cup manipulator device according to claim 1 or 2, characterized in that: The suction cup assembly is provided with a plurality of adsorption units, and the air passage of each adsorption unit can be started and stopped independently.

4. The surface selection suction cup manipulator device according to claim 1 or 2, characterized in that: The suction cup assembly includes a first beam and a suction cup mounting piece. The first beam is arranged parallel to the flip axis. The suction cup mounting pieces are arranged along the extension direction of the first beam. Each of the suction cup mounting pieces is provided with a plurality of adsorption units.

5. The surface selection suction cup manipulator device according to claim 1 or 2, characterized in that: The flip drive mechanism can drive the suction cup assembly to flip 360 degrees within the gantry.

6. A surface selection upper and lower plate system, characterized in that: It comprises a roller conveyor platform, a support plate frame and the surface selection suction cup manipulator device according to any one of claims 1 to 5, and the transfer mechanism can drive the gantry to move back and forth to cross the roller conveyor platform or the support plate frame.

7. The surface selection upper and lower board system according to claim 6, characterized in that: The roller conveyor platform includes a support frame and a roller unit. The roller units are arranged on the support frame, and at least one end of the roller unit is suspended. The suction cup assembly can extend from the suspended end of the roller unit and / or the bottom of the roller unit into between two adjacent roller units.

8. The surface selection upper and lower board system according to claim 7, characterized in that: The support frame includes a base frame, a first support column, a second support column, a second crossbeam, and a third crossbeam. The second crossbeam is arranged at one end of the roller unit, and the third crossbeam is arranged between the second crossbeam and the center position of the roller unit. The first support column is connected to the end of the second crossbeam and the end of the base frame, and the second support column is connected to the third crossbeam and the base frame. The distance between the top of the first support column and the top of the second support column is greater than the distance between the bottom of the first support column and the bottom of the second support column.

9. The surface selection upper and lower board system according to claim 6, characterized in that: It also includes a first guide rail, the roller conveying platform and the support plate frame are both arranged between two oppositely arranged groups of the first guide rails, and the transfer mechanism drives the gantry to translate along the first guide rail.

10. The surface selection upper and lower board system according to claim 9, characterized in that: It also includes a second guide rail, the extension direction of which is arranged to intersect with the extension direction of the first guide rail, the support frame can move along the second guide rail, the first guide rail and the second guide rail are both disconnected at the intersection position, and the gantry is provided with a multi-wheel walking device, the multi-wheel walking device is provided with at least two walking wheels, and the distance between two adjacent walking wheels is greater than the distance at which the first guide rail is disconnected.

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