Servo stacking manipulator

Abstract

The utility model relates to the technical field of plate stacking, and particularly discloses a servo stacking manipulator which comprises a rack, a moving frame, a suction cup device and a driving device, the suction cup device comprises a lifting assembly and a suction cup assembly, the suction cup assembly comprises a suction cup support, and bottom vacuum suction cups are installed at the bottoms of the two opposite ends of the suction cup support correspondingly; by adopting the servo stacking manipulator, firstly, a pair of bottom vacuum chucks in the chuck device are adsorbed on the plane end face of an L-shaped plate, side vacuum chucks are adsorbed on the side end face of the L-shaped plate, then the driving device drives the moving frame to move along the rack, and the chuck device is moved to a stacking area; the lifting assembly drives the suction cup device to vertically descend, after the suction cup device descends in place, the base plate vacuum suction cup and the side face vacuum suction cup loosen the L-shaped plates, the L-shaped plates are stacked, the whole stacking process depends on automatic grabbing and moving of the suction cup device and the moving frame, and automatic stacking of the L-shaped plates is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of board stacking, and particularly relates to a servo stacking manipulator. BACKGROUND

[0002] L-shaped boards are widely used in many fields, mainly including the fields of building, transportation, electronics and packaging. For example, in the field of building, L-shaped aluminum boards are often used for building exterior wall decoration, such as curtain walls and wallboards, and their lightweight feature makes installation more convenient, while their corrosion resistance ensures the long-lasting beauty of the building exterior wall. In addition, L-shaped aluminum boards can also be used for the decoration of roofs and ceilings, providing insulation and waterproof functions.

[0003] Usually, the L-shaped boards produced in the production workshop of an L-shaped aluminum board manufacturer are mostly placed and stacked by manpower, and the number of layers and the volume of the boards stacked by manpower are small. This manual carrying method is time-consuming and laborious, has a low degree of automation, and has a higher production cost. SUMMARY

[0004] In view of the defects in the prior art, the utility model aims to provide a servo stacking manipulator to solve the problem of time-consuming and laborious and low degree of automation of the existing L-shaped boards caused by manual carrying.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical solutions:

[0006] The present application provides a servo stacking manipulator, comprising: a rack, a moving frame, a suction cup device and a driving device;

[0007] The moving frame is horizontally slidably installed on the rack, and the driving device is connected to the moving frame.

[0008] The suction cup device comprises a lifting assembly and a suction cup assembly, the suction cup assembly comprises a suction cup support, the opposite ends of the suction cup support are respectively provided with bottom vacuum suction cups, a driving cylinder is installed on the suction cup support, the driving cylinder is connected to the bottom vacuum suction cups, the driving cylinder is used to drive the bottom vacuum suction cups to vertically move relative to the suction cup support, a side vacuum suction cup is installed on one end of the suction cup support, the suction cup support is fixedly installed at the bottom end of the moving frame through the lifting assembly, and the lifting assembly is used to drive the suction cup support to move up and down.

[0009] Further, the lifting assembly comprises a folding arm mechanism, a bottom end of the folding arm mechanism is fixedly installed on a bottom end of the moving frame, the bottom end of the folding arm mechanism is fixedly installed on a connecting frame, a driving unit is installed on the connecting frame, the driving unit is connected with the folding arm mechanism, and the driving unit is used for driving the folding arm mechanism to move up and down.

[0010] Further, the driving unit comprises a stepping motor and a connecting shaft, an output end of the stepping motor is installed on a middle part of the connecting shaft, two ends of the connecting shaft are respectively fixedly installed with rotating discs, opposite two sides of the connecting frame are respectively connected with the suction disc supports through rotating hinges, a pair of the rotating arms on one side of the connecting frame are fixedly connected through a connecting rod, two ends of the connecting rod are respectively connected with one ends of a pair of pull rods through hinges, and the other ends of the pair of pull rods are eccentrically hingedly installed on the rotating discs.

[0011] Further, inner walls of opposite two sides of the rack are respectively installed with a plurality of groups of guide wheel devices, the plurality of groups of guide wheel devices are uniformly arranged along a length direction of the rack, each group of the guide wheel devices comprises an installation plate, the installation plate is fixedly installed on the inner wall of the rack, and rotating discs are rotatably installed on upper and lower ends of an inner side of the installation plate.

[0012] Further, the driving device comprises a driving motor, the driving motor is fixedly installed on a top end of the rack, and the driving motor is connected with the moving frame through a chain wheel and chain transmission mechanism.

[0013] Further, the suction disc device is a pair of, and the pair of suction disc devices are fixedly installed on a bottom end of the moving frame along a moving direction of the moving frame.

[0014] The servo stacking manipulator has the advantages that:

[0015] By adopting the servo stacking manipulator, first, a pair of bottom vacuum suction discs in the suction disc device are adsorbed on a plane end surface of the L-shaped plate, side vacuum suction discs are adsorbed on side end surfaces of the L-shaped plate, then a driving device drives the moving frame to move along the rack, the suction disc device is moved to a stacking area, a lifting assembly drives the suction disc device to vertically descend, after the suction disc device is positioned, the bottom vacuum suction disc and the side vacuum suction disc are loosened from the L-shaped plate, and the L-shaped plate is stacked and placed, the whole stacking process relies on automatic grabbing and moving of the suction disc device and the moving frame, and automatic stacking and placing of the L-shaped plate are realized. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a three-dimensional structure schematic view of the servo stacking manipulator in the embodiment.

[0017] Figure 2 is a schematic view of a main visual direction structure of a servo stacking manipulator in an embodiment of the present application.

[0018] Figure 3 is a schematic view of a three-dimensional structure of a suction cup device in an embodiment of the present application.

[0019] Figure 4 is a schematic view of a three-dimensional structure of the suction cup device from another angle in an embodiment of the present application.

[0020] Figure 5 is a schematic view of a partial enlarged structure at A in Figure 1 .

[0021] Figure 6 is a schematic view of a partial enlarged structure at B in Figure 4 .

[0022] in the figure:

[0023] 10 - servo stacking manipulator, 100 - rack, 101 - portal upright, 102 - guide beam, 200 - moving frame, 300 - guide wheel device, 301 - mounting plate, 302 - guide wheel, 400 - suction cup device, 401 - lifting assembly, 402 - connecting frame, 403 - bottom vacuum suction cup, 404 - side vacuum suction cup, 405 - driving unit, 4051 - stepping motor, 4052 - connecting shaft, 4053 - rotating disc, 4054 - connecting rod, 4055 - pull rod, 4056 - rotating arm, 500 - driving device. DETAILED DESCRIPTION

[0024] The utility model will be further described in detail below in combination with the drawings and specific embodiments.

[0025] Referring to the drawings Figure 1 to Figure 2 shown, the embodiment provides a servo stacking manipulator 10, which comprises a rack 100, a moving frame 200, a suction cup device 400 and a driving device 500.

[0026] Referring to the drawings Figure 1 and Figure 2 shown, in the embodiment, the rack 100 is a bridge-like upright structure, specifically, the rack 100 comprises a pair of portal uprights 101, which are oppositely arranged, and the inner sides of the upper ends of the pair of portal uprights 101 are respectively provided with guide beams 102, which are fixedly installed on the portal uprights 101, forming an integral upright structure, for example, fixed by welding or bolts.

[0027] Continuing to refer to the drawings Figure 1 , the drawingsFigure 2 and the accompanying drawings Figure 6 As shown in the drawings, the moving frame 200 is horizontally slidingly installed on the rack 100, and the moving frame 200 can reciprocate relative to the longitudinal direction (i.e. the length direction) of the rack 100. In the embodiment, a plurality of sets of guide wheel devices 300 are respectively arranged on the inner sides of a pair of guide rail beams 102 on the rack 100, and the plurality of sets of guide wheel devices 300 are uniformly spaced along the length direction of the guide rail beams 102. The guide wheel devices 300 are fixedly installed on the inner side walls of the guide rail beams 102, and the moving frame 200 can reciprocate relative to the guide rail beams 102 through the guide wheel devices 300.

[0028] Referring to the drawings Figure 6 Specifically, the guide wheel device 300 includes a mounting plate 301 fixedly installed on the inner side wall of the guide rail beam 102, and a pair of guide wheels 302 are respectively installed on the upper and lower ends of the mounting plate 301 and rotatably installed on the mounting plate 301. When the moving frame 200 is installed on the rack 100, the opposite sides of the moving frame 200 are respectively installed between the upper and lower guide wheels 302 on the mounting plate 301, i.e. the upper and lower ends of the opposite sides of the moving frame 200 are respectively in rolling contact with the guide wheels 302 above and below the mounting plate 301. In this way, the moving frame 200 can reciprocate relative to the rack 100 in the longitudinal direction. It should be noted that the sliding connection between the moving frame 200 and the rack 100 can also be achieved by other sliding structures, such as sliding rails or sliding blocks, without being limited thereto.

[0029] Referring to the drawings Figure 1 and the accompanying drawings Figure 2 In the embodiment, the driving device 500 is installed above the rack 100, and the driving device 500 is connected to the moving frame 200 for driving the moving frame 200 to reciprocate along the rack 100. In the embodiment, the driving device 500 adopts a chain wheel and chain transmission mechanism, i.e. a motor + chain wheel and chain transmission mechanism is used to drive the moving frame 200 to move. The chain wheel and chain transmission structure has a lower manufacturing cost and is more suitable for long-distance reciprocating movement of the moving frame 200. It should be understood that the driving device 500 can also adopt other commonly used transmission mechanisms, such as a gear and rack transmission structure, without being limited thereto.

[0030] Referring to the drawings Figure 1 to the accompanying drawings Figure 4As shown, in the embodiment, the suction cup device 400 is installed at the bottom end of the moving frame 200, and the suction cup device 400 can move synchronously with the moving frame 200. Specifically, the suction cup device 400 includes a lifting assembly 401 and a suction cup assembly, the suction cup assembly includes a suction cup support, and opposite ends of the suction cup support are respectively provided with bottom vacuum suction cups 403, i.e., two ends parallel to the moving direction of the moving frame 200. A driving cylinder is installed on the suction cup support, a piston rod of the driving cylinder is connected with the bottom vacuum suction cups 403, and the driving cylinder is used to drive the bottom vacuum suction cups 403 to vertically move relative to the suction cup support. A side vacuum suction cup 404 is installed at one end of the suction cup support, and the suction cup support is fixedly installed at the bottom end of the moving frame 200 through the lifting assembly 401. The lifting assembly 401 is used to drive the suction cup support to move up and down.

[0031] When the servo stacking manipulator 10 in the embodiment is used to carry and stack L-shaped plates, the driving device 500 drives the moving frame 200 to move along the rack 100. When the moving frame 200 drives the suction cup device 400 to move above the L-shaped plate to be carried and stacked, the moving frame 200 stops moving, and the suction cup device 400 acts. First, a pair of bottom vacuum suction cups 403 in the suction cup device 400 are used to adsorb on the planar end surface of the L-shaped plate, and the side vacuum suction cup 404 is used to adsorb on the side end surface of the L-shaped plate. Then, the driving device 500 drives the moving frame 200 to move along the rack 100, moves the suction cup device 400 to the stacking area, and drives the lifting assembly 401 to drive the suction cup device 400 to vertically descend. After the suction cup device 400 is lowered in place, the bottom vacuum suction cup and the side vacuum suction cup 404 are loosened from the L-shaped plate, the L-shaped plate is stacked and placed, the suction cup device 400 is raised and reset, the moving frame 200 moves above the L-shaped plate to be carried again, and the cycle is repeated to realize the carrying and stacking of the L-shaped plate.

[0032] Referring to Figs. 1 to 4, Figure 1 and Figs. 5 to 8, Figure 2 As shown, in some embodiments, the suction cup device 400 is a pair of suction cup devices 400, and the pair of suction cup devices 400 are arranged at the bottom end of the moving frame 200 in the moving direction of the moving frame 200. The suction cup device 400 is a pair of suction cup devices 400, which can improve the carrying capacity of the L-shaped plate in a single operation.

[0033] Referring to Figs. 1 to 4, Figure 3 and Figs. 5 to 8, Figure 4 As shown, in the embodiment, the lifting assembly 401 includes a folding arm mechanism, the bottom end of the folding arm mechanism is fixedly installed at the bottom end of the moving frame 200, the bottom end of the folding arm mechanism is fixedly installed on the connecting frame 402, the driving unit 405 is installed on the connecting frame 402, the driving unit 405 is connected with the folding arm mechanism, and the driving unit 405 is used to drive the folding arm mechanism to move up and down.

[0034] Referring to Figs. 1 to 4, Figure 3 and Figs. 5 to 8,Figure 4 As shown, the driving unit 405 comprises a stepping motor 4051 and a connecting shaft 4052, the output end of the stepping motor 4051 is installed at the middle part of the connecting shaft 4052, the two ends of the connecting shaft 4052 are fixedly installed with rotary discs 4053 respectively, the opposite two sides of the connecting frame 402 are rotatably connected with the suction disc support through the rotary arms 4056 provided respectively, a pair of rotary arms 4056 located at one side of the connecting frame 402 are fixedly connected through the connecting rod 4054 provided, the two ends of the connecting rod 4054 are rotatably connected with one end of a pair of pull rods 4055 provided respectively, the other end of the pair of pull rods 4055 is eccentrically rotatably installed on the rotary disc 4053.

[0035] When the lifting assembly 401 needs to be folded and telescoped, the stepping motor 4051 rotates through the connecting shaft 4052, the rotary connecting shaft 4052 drives the rotary discs 4053 at the two ends to rotate, the rotary discs 4053 in rotation further drive the connecting rod 4054 connected with them eccentrically to rotate, the connecting rod 4054 in rotation further drives the folding arm mechanism to move through the rotary arms 4056 and the connecting frame 402, so as to realize the telescopic movement of the folding arm mechanism.

[0036] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the claims of the present application and equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. A servo-driven stacking robot, characterized in that, The utility model relates to a kind of vacuum adsorption device, including: Rack, moving frame, suction cup device and drive device; The moving frame is horizontally slidingly installed on the rack, and the drive device is connected with the moving frame; The suction cup device includes a lifting assembly and a suction cup assembly, the suction cup assembly includes a suction cup support, the bottom of the opposite ends of the suction cup support is respectively provided with a bottom vacuum suction cup, a driving cylinder is installed on the suction cup support, the driving cylinder is connected with the bottom vacuum suction cup, and the driving cylinder is used to drive the bottom vacuum suction cup to vertically move relative to the suction cup support, a side vacuum suction cup is installed on one end of the suction cup support, and the suction cup support is fixedly installed at the bottom end of the moving frame by the lifting assembly, and the lifting assembly is used to drive the suction cup support to move up and down.

2. A servo stacker robot according to claim 1, wherein The lifting assembly includes a folding arm mechanism, the bottom end of the folding arm mechanism is fixedly installed at the bottom end of the moving frame, the bottom end of the folding arm mechanism is fixedly installed on the connecting frame, the connecting frame is provided with a driving unit, the driving unit is connected with the folding arm mechanism, and the driving unit is used to drive the folding arm mechanism to move telescopically.

3. A servo stacker robot according to claim 2, wherein The driving unit includes a stepping motor and a connecting shaft, the output end of the stepping motor is installed at the middle part of the connecting shaft, the connecting shaft is provided with a rotating disc at both ends, one side of the connecting frame is rotatably connected with the suction cup support by the rotating arm, a pair of rotating arms on one side of the connecting frame are fixedly connected by the connecting rod, the connecting rod is rotatably connected with one end of a pair of pull rods, and the other end of the pair of pull rods is eccentrically rotatably installed on the rotating disc.

4. The servo stacker handler of claim 1 wherein, A plurality of guide wheel devices are installed on the inner walls of the opposite sides of the rack, and the plurality of guide wheel devices are uniformly arranged along the length direction of the rack, each guide wheel device includes an installation plate, the installation plate is fixedly installed on the inner wall of the rack, and guide wheels are rotatably installed on the inner side of the installation plate.

5. The servo stacker handler of claim 1 wherein, The drive device includes a driving motor, the driving motor is fixedly installed at the top end of the rack, and the driving motor is connected with the moving frame by the chain wheel and chain transmission mechanism.

6. A servo stacker robot according to any one of claims 1 to 5, wherein The suction cup device is a pair, and the pair of suction cup devices are fixedly installed at the bottom end of the moving frame along the moving direction of the moving frame.

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