Quartz stone plate transferring manipulator

Abstract

The utility model discloses a quartz stone plate transfer manipulator, which belongs to the technical field of quartz stone plate processing equipment and comprises a sucker frame and a plurality of sucker components, the plurality of sucker components are distributed and mounted on the sucker frame, and a quartz stone plate anti-falling device is arranged on the sucker frame. The quartz stone plate anti-falling device is additionally arranged on the suction cup frame, the risks of long-distance plate transferring and plate falling are avoided, the safety and reliability in the plate transferring process are greatly improved, and the suction cup frame has the beneficial effects of being efficient, reasonable and high in reliability. According to the suction cup assembly, existing rigid connection is changed into elastic connection, so that the suction cup has good rebound resilience, the leakproofness between the suction cup and a plate can be improved, the adsorption effect is improved, damage to the plate can be reduced, and the service life of the plate is prolonged. Particularly, the suction cup assembly with rebound resilience is matched with the pressure sensor on the descending limiting rod, so that the pressure of the suction cup on the quartz stone plate is effectively controlled, and the risk that the quartz stone plate is slightly deformed or crushed due to excessive pressure is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of quartz stone plate processing equipment, in particular to a quartz stone plate transferring manipulator. Background Art

[0002] In modern industrial processing of quartz stone slabs, the slabs are lifted and moved one by one into the blank transfer mechanism, and then brought into the processing equipment by the blank transfer mechanism. During the transfer process, the blank transfer mechanism must complete the adsorption and clamping action of the suction cup and the forward and backward movement action. For example, the prior art discloses a patent document with the announcement number CN206578824U, which is a suction and transfer robot for plastic plates, including a suction cup device, a lifting column, a horizontal beam, a power control box, an installation side beam and an installation top beam. The suction cup device is installed and fixed to the lower end of the lifting column, a first rack is longitudinally installed on one side of the lifting column, and lifting guide rails are respectively installed on both sides of the lifting column, and a second rack and a first horizontal guide rail are respectively installed on the front side of the horizontal beam, the second rack and the first horizontal guide rail are parallel to and located above the first horizontal guide rail, and a second horizontal guide rail is installed on the top of the horizontal beam, and the second horizontal guide rail is parallel to the first horizontal guide rail; the power control box includes a translation drive motor The first gear is fixedly connected to the second rack on the front side of the horizontal beam, and the fourth gear is fixedly connected to the output shaft of the lifting drive motor, and the lifting drive motor is installed and fixed on the box body. The fourth gear is meshed with the first rack on the front side of the horizontal beam, and the fourth gear is fixedly connected to the output shaft of the lifting drive motor. The lifting drive motor is installed and fixed on the box body. The fourth gear is meshed with the first rack on one side of the lifting column. The first slide, the second slide and the third slide are respectively provided on the box body. The first slide is slidably connected to the second horizontal guide rail on the top of the horizontal beam, the second slide is slidably connected to the first horizontal guide rail on the front side of the horizontal beam, and the third slide is slidably connected to the lifting guide rails on both sides of the lifting column, and the lifting column is inserted into the box body; the installing side beam is fixedly arranged on one end of the horizontal beam and is vertically arranged, one end of the installing top beam is fixedly connected to the middle of the rear side of the horizontal beam, and the other end of the installing top beam is horizontally extended. The bottom ends of the horizontal beam are fixedly provided with contact blocks. A contact switch is mounted on the box body, which can contact the contact blocks to control the translation drive motor to stop operation. The contact switch and the translation drive motor are control-connected. Limit stops are fixedly provided at the front ends of the horizontal beam. The suction cup device includes a suction cup fixing beam, suction cups, a main connecting beam, a lifting column fixing beam, and an intermediate connecting beam. The suction cups are evenly distributed and fixed along the length of the suction cup fixing beam. The suction cup fixing beams are arranged parallel to each other. The main connecting beam is arranged perpendicular to the suction cup fixing beam and fixedly connected to the upper ends of each suction cup fixing beam. The lifting column fixing beam is arranged parallel to the main connecting beam and located inside the main connecting beam. The lifting column fixing beam is fixedly connected to the upper end of the suction cup fixing beam. The lower end of the lifting column is fixedly connected to the lifting column fixing beam. The intermediate connecting beam is arranged parallel to the suction cup fixing beam and fixedly connected to the lower ends of the main connecting beam and the lifting column fixing beam. The device is characterized by being able to transfer and stack qualified cut plastic sheets from a plastic sheet extrusion molding line by suction.

[0003] Although the above patent document solves the problem of transferring plastic sheets, it can also be applied in the production and processing of quartz stone sheets. However, the technical solution of the patent document still has the following deficiencies in practical application: First, there are high requirements for the parallelism or horizontality of the front and rear ends of the quartz stone sheets, and the above suction cups adopt a rigid connection. When adsorbing and clamping the quartz stone sheets, there is a problem of uneven force on the quartz stone sheets due to the multiple suction cups, which will cause deformation of the quartz stone sheets and even crushing; second, if the quartz stone sheets need to be arranged over a long distance in the processing equipment, there is a risk of the sheets falling off during the long-distance transfer process. Once they fall off, the quartz stone sheets will be broken. Utility Model Content

[0004] In order to solve the above problems, the purpose of the present invention is to provide a quartz stone plate transfer robot with high efficiency, rationality and reliability.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A quartz stone plate transferring robot comprises a suction cup frame and a plurality of suction cup assemblies. The plurality of suction cup assemblies are distributedly mounted on the suction cup frame, and the suction cup frame is provided with a quartz stone plate anti-falling device.

[0007] Furthermore, the quartz stone slab anti-falling device includes a square tubular load-bearing beam, a left cylinder, a left sliding rod, an L-shaped left supporting hook, a right cylinder, a right sliding rod and an L-shaped right supporting hook, the right end of the left sliding rod is inserted in the square sliding hole at the left end of the square tubular load-bearing beam and can slide along the square sliding hole, the left end of the left sliding rod is fixedly connected to the L-shaped left supporting hook, and a left hinge seat is provided near the top of the left end of the left sliding rod. The left end of the right sliding rod is inserted in the square sliding hole at the right end of the square tubular load-bearing beam and can slide along the square sliding hole, the right end of the right sliding rod is fixedly connected to the L-shaped right supporting hook, and a right hinge seat is provided near the top of the right end of the right sliding rod, the right cylinder is fixed on the top of the square tubular load-bearing beam and the end of the piston rod of the right cylinder is hinged to the right hinge seat.

[0008] Furthermore, the suction cup frame includes a load-bearing crossbeam and multiple load-bearing longitudinal beams, and the multiple load-bearing longitudinal beams are distributed at intervals on the load-bearing crossbeam, and each of the load-bearing longitudinal beams is installed with two or more of the above-mentioned suction cup assemblies; the square tubular load-bearing beam is installed on the load-bearing crossbeam through a spring assembly.

[0009] Furthermore, the spring assembly includes a left movable screw, a left spring, a left nut, a right movable screw, a right spring and a right nut. A left vertical guide sleeve and a right vertical guide sleeve are welded on both sides of the load-bearing beam respectively. The lower end of the left movable screw is welded to the top surface of the square tubular load-bearing beam, and the upper end of the left movable screw passes through the left vertical guide sleeve and is threadedly connected to the left nut. The left spring is sleeved on the left movable screw and pressed between the left vertical guide sleeve and the square tubular load-bearing beam; the lower end of the right movable screw is welded to the top surface of the square tubular load-bearing beam, and the upper end of the right movable screw passes through the right vertical guide sleeve and is threadedly connected to the right nut. The right spring is sleeved on the right movable screw and pressed between the right vertical guide sleeve and the square tubular load-bearing beam.

[0010] Furthermore, the suction cup assembly includes a suction cup, a movable screw, a spring and a nut. A vertical guide hole is provided on the load-bearing longitudinal beam. The lower end of the movable screw is connected to the center of the top surface of the suction cup. The upper end of the movable screw passes upward through the vertical guide hole and is threadedly connected to the nut. The spring is sleeved on the movable screw and pressed between the load-bearing longitudinal beam and the suction cup. A vacuum joint is provided on the suction cup, and the vacuum joint is connected to the vacuum pump through a vacuum pipeline. The vacuum pump is installed on the load-bearing crossbeam.

[0011] Furthermore, the suction cup assembly also includes a vertical guide sleeve and a vertical guide rod. The vertical guide sleeve is welded to the side wall of the load-bearing longitudinal beam. The lower end of the vertical guide rod is connected to the top surface of the suction cup, and the upper end of the vertical guide rod passes upward through the vertical guide sleeve.

[0012] Furthermore, the quartz stone slab transferring robot also includes a crane, a lifting drive device, a lifting rod and an electrical control box. The lifting drive device is arranged on the crane, and the lifting drive device is connected to the supporting beam through the lifting rod. The electrical control box is arranged on the supporting beam and is electrically connected to the driving motor of the crane, the lifting drive device and the vacuum pump.

[0013] Furthermore, a command information receiving module is provided in the electric control box, and the remote controller sends the command information to the command information receiving module in a wireless transmission manner to operate and control the driving motor, lifting drive device and vacuum pump of the overhead crane.

[0014] Furthermore, a downward limit rod is provided on the bearing beam, and a pressure sensor is provided at the lower end of the downward limit rod. The electric control box is electrically connected to the pressure sensor. When the bearing beam descends, the quartz stone plate contacts the pressure sensor. When the pressure of the quartz stone plate on the pressure sensor reaches a set value, the electric control box will turn off the lifting drive device.

[0015] The beneficial effects of the present invention are:

[0016] This application adds a quartz stone plate anti-falling device on the suction cup rack, which avoids the risk of the plate falling off during long-distance transfer of the plate, greatly improves the safety and reliability of the plate transfer process, and is characterized by high efficiency, rationality and high reliability.

[0017] The suction cup assembly in the present application is changed from the existing rigid connection to an elastic connection, which makes the suction cup have excellent resilience, which not only improves the airtightness between the suction cup and the plate and improves the adsorption effect, but also reduces the damage to the plate. In particular, the combination of the resilient suction cup assembly in the present application and the pressure sensor on the downward limit rod enables the suction cup to effectively control the pressure of the quartz stone plate, avoiding the risk of excessive pressure causing micro-deformation or crushing of the quartz stone plate.

[0018] The present application uses a remote controller to wirelessly control the overhead crane's drive motor, lifting drive device, and vacuum pump, which is not restricted by the length of power cables and data cables, thus facilitating operation and improving operational stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention is further described with reference to the accompanying drawings. However, the embodiments in the accompanying drawings do not limit the present invention in any way. A person skilled in the art can derive other drawings based on the following drawings without inventive effort.

[0020] Figure 1 It is a structural diagram of the utility model;

[0021] Figure 2 for Figure 1 A schematic structural diagram of the suction cup assembly shown;

[0022] Figure 3 for Figure 1 The schematic diagram of the structure of the quartz stone plate anti-falling device shown.

[0023] Figure: 1. Overhead crane; 2. Lifting drive unit; 3. Lifting rod; 4. Electric control box; 5. Vacuum pump; 6. Suction cup assembly; 7. Quartz slab anti-fall device; 8. Load-bearing crossbeam; 9. Load-bearing longitudinal beam; 10. Remote control; 11. Downward limit rod; 12. Pressure sensor; 13. Quartz slab; 14. Suction cup; 15. Movable screw; 16. Spring; 17. Nut; 18. Vertical guide hole; 19. Vacuum joint; 20. Vacuum pipe; 21. Vertical guide 1. Sleeve; 22. Vertical guide rod; 23. Square tubular load-bearing beam; 24. Left cylinder; 25. Left slide bar; 26. L-shaped left support hook; 27. Right cylinder; 28. Right slide bar; 29. ​​L-shaped right support hook; 30. Square slide hole; 31. Left hinge seat; 32. Right hinge seat; 33. Spring assembly; 34. Left movable screw; 35. Left spring; 36. Left nut; 37. Right movable screw; 38. Right spring; 39. Right nut; 40. Left vertical guide sleeve; 41. Right vertical guide sleeve. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, unless there is a conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0025] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper surface", "lower surface", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "forward", "reverse", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0026] like Figure 1 As shown, a quartz stone slab transfer robot includes a crane 1, a lifting drive device 2, a lifting rod 3, an electric control box 4, a vacuum pump 5, a suction cup frame and a plurality of suction cup assemblies 6. The plurality of suction cup assemblies 6 are distributed and installed on the suction cup frame. The suction cup frame is provided with a quartz stone slab anti-falling device 7. Specifically, the suction cup frame includes a bearing crossbeam 8 and a plurality of bearing longitudinal beams 9. The plurality of bearing longitudinal beams 9 are distributed at intervals on the bearing crossbeam 8. The present application adds a quartz stone slab anti-falling device to the suction cup frame, which avoids the risk of slabs falling off during long-distance transfer, greatly improves the safety and reliability of the slab transfer process, and has the characteristics of high efficiency, rationality and high reliability.

[0027] The lifting drive device 2 is mounted on the overhead crane 1 and connected to the load-bearing beam 8 via a lifting rod 3. The electric control box 4 is mounted on the load-bearing beam 8 and is electrically connected to the drive motor of the overhead crane 1, the lifting drive device 2, and the vacuum pump 5. The vacuum pump 5 is mounted on the load-bearing beam 8.

[0028] The electric control box 4 is provided with a command information receiving module, and the remote controller 10 sends command information to the command information receiving module in a wireless manner to operate and control the driving motor, the lifting drive device 2 and the vacuum pump 5 of the overhead crane 1.

[0029] A downward limit rod 11 is provided on the bearing beam 8, and a pressure sensor 12 is provided at the lower end of the downward limit rod 11. The electric control box 4 is electrically connected to the pressure sensor 12. When the bearing beam 8 is descending, the quartz stone plate 13 contacts the pressure sensor 12. When the pressure of the quartz stone plate 13 on the pressure sensor 12 reaches a set value, the electric control box 4 turns off the lifting drive device 2 to prevent the suction cup frame from continuing to descend.

[0030] like Figure 2 As shown, two suction cup assemblies 6 are installed on each of the bearing longitudinal beams. The suction cup assembly 6 includes a suction cup 14, a movable screw 15, a spring 16 and a nut 17. A vertical guide hole 18 is provided on the bearing longitudinal beam 9. The lower end of the movable screw 15 is connected to the center of the top surface of the suction cup 14. The upper end of the movable screw 15 passes upward through the vertical guide hole 18 and is threadedly connected to the nut 17. The spring 16 is sleeved on the movable screw 15 and pressed between the bearing longitudinal beam 9 and the suction cup 14. A vacuum joint 19 is provided on the suction cup 14. The vacuum joint 19 is connected to the vacuum pump 5 through a vacuum line 20. The suction cup assembly 6 of the above structure is changed from the existing rigid connection to an elastic connection, so that the suction cup has good resilience, which not only improves the airtightness between the suction cup and the plate, improves the adsorption effect, but also reduces damage to the plate. In particular, the combination of the resilient suction cup assembly and the pressure sensor on the downward limit rod in this application enables the suction cup to effectively control the pressure of the quartz stone plate, avoiding the risk of excessive pressure causing micro-deformation or crushing of the quartz stone plate.

[0031] like Figure 1 As shown, the suction cup assembly 6 also includes a vertical guide sleeve 21 and a vertical guide rod 22. The vertical guide sleeve 21 is welded to the side wall of the load-bearing longitudinal beam 9. The lower end of the vertical guide rod 22 is connected to the top surface of the suction cup 14, and the upper end of the vertical guide rod 22 passes upward through the vertical guide sleeve 21.

[0032] like Figure 3As shown, the quartz stone plate anti-falling device 7 includes a square tubular load-bearing beam 23, a left cylinder 24, a left slide bar 25, an L-shaped left hook 26, a right cylinder 27, a right slide bar 28 and an L-shaped right hook 29. The right end of the left slide bar 25 is inserted into the square slide hole 30 at the left end of the square tubular load-bearing beam 23 and can slide along the square slide hole 30. The left end of the left slide bar 25 is fixedly connected to the L-shaped left hook 26. A left hinge seat 31 is provided near the top of the left end of the left slide bar 25. The left cylinder 24 is fixed on The top of the square tubular load-bearing beam 23 and the end of the piston rod of the left cylinder 24 are hinged to the left hinge seat 31; the left end of the right slide rod 28 is inserted into the square slide hole 30 at the right end of the square tubular load-bearing beam 23 and can slide along the square slide hole 30, the right end of the right slide rod 28 is fixedly connected to the L-shaped right hook 29, and a right hinge seat 32 is provided near the top of the right end of the right slide rod 28, the right cylinder 27 is fixed to the top of the square tubular load-bearing beam 23 and the end of the piston rod of the right cylinder 27 is hinged to the right hinge seat 32.

[0033] The square tubular load-bearing beam 23 is mounted on the load-bearing crossbeam 8 via a spring assembly 33 . Specifically, the spring assembly 33 includes a left movable screw 34, a left spring 35, a left nut 36, a right movable screw 37, a right spring 38 and a right nut 39. A left vertical guide sleeve 40 and a right vertical guide sleeve 41 are welded to both sides of the load-bearing beam 8, respectively. The lower end of the left movable screw 34 is welded to the top surface of the square tubular load-bearing beam 23, and the upper end of the left movable screw 34 passes upward through the left vertical guide sleeve 40 and is threadedly connected to the left nut 36. The left spring 35 is sleeved on the left movable screw 34 and pressed between the left vertical guide sleeve 40 and the square tubular load-bearing beam 23; the lower end of the right movable screw 37 is welded to the top surface of the square tubular load-bearing beam 23, and the upper end of the right movable screw 37 passes upward through the right vertical guide sleeve 41 and is threadedly connected to the right nut 39. The right spring 38 is sleeved on the right movable screw 37 and pressed between the right vertical guide sleeve 41 and the square tubular load-bearing beam 23.

[0034] Working Principle: A worker operates the remote control to move the overhead crane 1 above the quartz slab. The lifting drive 2 is activated, driving the suction cup assembly 6 on the suction cup frame downward via the lifting rod 3. As the support beam 8 on the suction cup frame descends, the quartz slab 13 contacts the pressure sensor 12 and continues to move downward. When the pressure exerted by the quartz slab 13 on the pressure sensor 12 reaches the set value, the electrical control box 4 shuts off the lifting drive 2, preventing the suction cup frame from descending further. The vacuum pump 5 is activated, and after the suction cup 14 has completely absorbed the quartz slab 13, the quartz slab anti-drop device 7 is activated. The left and right cylinders 24 and 27 respectively drive the left and right slide bars 25 and 28 to retract into the square tubular support beam 23, causing the L-shaped left and right support hooks 26 and 29 to hook the front and rear sides of the quartz slab 13. The lifting drive 2 is then activated again, lifting the quartz slab 13 and removing it using the overhead crane 1. The lifting drive device 2 can be driven by a hydraulic cylinder or a motor.

[0035] In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are mutually inconsistent. Although the embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A quartz stone plate transfer robot, comprising a suction cup frame and a plurality of suction cup assemblies, characterized in that: The plurality of suction cup assemblies are distributed and installed on the suction cup frame, and the suction cup frame is provided with a quartz stone plate anti-falling device; the quartz stone plate anti-falling device comprises a square tubular load-bearing beam, a left cylinder, a left slide bar, an L-shaped left support hook, a right cylinder, a right slide bar and an L-shaped right support hook, the right end of the left slide bar is inserted into the square sliding hole at the left end of the square tubular load-bearing beam and can slide along the square sliding hole, the left end of the left slide bar is fixedly connected to the L-shaped left support hook, and the top of the left end of the left slide bar is close to the top A left hinge seat is provided at the top, the left cylinder is fixed on the top of the square tubular load-bearing beam, and the end of the piston rod of the left cylinder is hinged to the left hinge seat; the left end of the right sliding rod is inserted into the square sliding hole at the right end of the square tubular load-bearing beam and can slide along the square sliding hole, the right end of the right sliding rod is fixedly connected to the L-shaped right support hook, and a right hinge seat is provided near the top of the right end of the right sliding rod, the right cylinder is fixed on the top of the square tubular load-bearing beam, and the end of the piston rod of the right cylinder is hinged to the right hinge seat.

2. The quartz stone plate transfer robot according to claim 1, characterized in that: The suction cup frame includes a load-bearing crossbeam and multiple load-bearing longitudinal beams. The multiple load-bearing longitudinal beams are distributed at intervals on the load-bearing crossbeam, and each load-bearing longitudinal beam is installed with two or more of the above-mentioned suction cup assemblies; the square tubular load-bearing beam is installed on the load-bearing crossbeam through a spring assembly.

3. The quartz stone plate transfer robot according to claim 2, characterized in that: The spring assembly includes a left movable screw, a left spring, a left nut, a right movable screw, a right spring and a right nut. A left vertical guide sleeve and a right vertical guide sleeve are welded on both sides of the load-bearing beam respectively. The lower end of the left movable screw is welded to the top surface of the square tubular load-bearing beam, and the upper end of the left movable screw passes through the left vertical guide sleeve and is threadedly connected to the left nut. The left spring is sleeved on the left movable screw and pressed between the left vertical guide sleeve and the square tubular load-bearing beam; the lower end of the right movable screw is welded to the top surface of the square tubular load-bearing beam, and the upper end of the right movable screw passes through the right vertical guide sleeve and is threadedly connected to the right nut. The right spring is sleeved on the right movable screw and pressed between the right vertical guide sleeve and the square tubular load-bearing beam.

4. The quartz stone plate transfer robot according to claim 3, characterized in that: The suction cup assembly includes a suction cup, a movable screw, a spring and a nut. A vertical guide hole is provided on the load-bearing longitudinal beam. The lower end of the movable screw is connected to the center of the top surface of the suction cup. The upper end of the movable screw passes upward through the vertical guide hole and is threadedly connected to the nut. The spring is sleeved on the movable screw and pressed between the load-bearing longitudinal beam and the suction cup. A vacuum joint is provided on the suction cup, and the vacuum joint is connected to the vacuum pump through a vacuum pipeline. The vacuum pump is installed on the load-bearing crossbeam.

5. The quartz stone plate transfer robot according to claim 4, characterized in that: The suction cup assembly also includes a vertical guide sleeve and a vertical guide rod. The vertical guide sleeve is welded to the side wall of the load-bearing longitudinal beam. The lower end of the vertical guide rod is connected to the top surface of the suction cup, and the upper end of the vertical guide rod passes upward through the vertical guide sleeve.

6. The quartz stone plate transfer robot according to any one of claims 2 to 5, characterized in that: It also includes an overhead crane, a lifting drive device, a lifting rod and an electric control box. The lifting drive device is arranged on the overhead crane, and the lifting drive device is connected to the load-bearing beam through the lifting rod. The electric control box is arranged on the load-bearing beam and is electrically connected to the driving motor of the overhead crane, the lifting drive device and the vacuum pump.

7. The quartz stone plate transfer robot according to claim 6, characterized in that: The electric control box is provided with a command information receiving module, and the remote controller sends command information to the command information receiving module in a wireless transmission manner to operate and control the driving motor, lifting drive device and vacuum pump of the overhead crane.

8. The quartz stone plate transfer robot according to claim 6, characterized in that: A downward limit rod is provided on the bearing beam, and a pressure sensor is provided at the lower end of the downward limit rod. The electric control box is electrically connected to the pressure sensor. When the bearing beam descends, the quartz stone plate contacts the pressure sensor. When the pressure of the quartz stone plate on the pressure sensor reaches a set value, the electric control box will turn off the lifting drive device.

Images