Robot for carrying plates

Abstract

The utility model discloses a robot for plate carrying, which relates to the technical field of plate automatic carrying operation and comprises a workbench, a pair of transmission components and a pair of clamping mechanisms, each transmission component comprises a driving motor, a gear and a rack, each clamping mechanism comprises a moving seat, an electric push rod and a connecting rod component, and the moving seats are connected with the workbench in a sliding fit manner. A rack is installed at the lower end of the moving seat, the electric push rod is installed on the moving seat, the connecting rod assembly comprises a sliding plate, a first connecting plate and a pair of connecting rods, the sliding plate is arranged on the moving seat in a sliding mode and connected with the electric push rod, the upper end and the lower end of the first connecting plate are connected with the sliding plate through the connecting rods, and a clamping block is detachably installed on the first connecting plate. The utility model has the characteristics of strong clamping force, simple and convenient structure, reliable connection, strong self-locking performance, high stability and high transmission efficiency.

Description

Technical Field

[0001] This utility model relates to the field of material handling robot technology, specifically to a robot for handling sheet metal. Background Technology

[0002] In recent years, with the large-scale development of automated production operations, robotic automated material handling has become a typical link in the industrial manufacturing field. Sheet metal, as an important production material in many production sectors, requires material handling as an indispensable part of sheet metal processing and production. Robotic automated material handling not only improves production efficiency but also reduces the intensity of manual labor, representing a significant technological advancement in the integration of robotic automation with the sheet metal industry.

[0003] However, most existing robotic sheet metal handling systems use suction cups as gripping tools. This reliance on suction cups performs adequately when handling lightweight, flat sheets, but when dealing with heavy, uneven sheets, the suction cups' end-effectors lack sufficient load-bearing capacity to provide adequate gripping force, causing the sheets to easily slip or shift during handling. This not only affects the overall work progress but may also damage the sheets, reducing product quality.

[0004] Furthermore, the gripping mechanisms in existing sheet metal handling robots are often complex in structure, inconvenient to install and disassemble, and detrimental to the rapid maintenance and adjustment of the robot. At the same time, the reliability of the connection between the gripping mechanism and the sheet metal needs to be improved to ensure that the sheet metal can be firmly gripped during handling. Utility Model Content

[0005] In view of the problems existing in the prior art, the present invention aims to provide a robot for handling sheet metal.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A robot for handling sheet metal, comprising:

[0008] The workbench is installed on the body of the AGV trolley;

[0009] A pair of transmission components are respectively disposed at the left and right ends of the lower part of the worktable. The transmission components include a drive motor, a gear and a rack. The drive motor is installed on the lower part of the worktable. The gear is connected to the output end of the drive motor. The gear meshes with the rack for transmission.

[0010] A pair of clamping mechanisms are respectively installed at the left and right ends of the upper part of the workbench, and the clamping mechanism comprises a moving seat, an electric push rod and a connecting rod assembly, the moving seat is in sliding fit connection with the workbench, the lower end of the moving seat is provided with the rack, the electric push rod is installed on the moving seat, the connecting rod assembly comprises a sliding plate, a first connecting plate and a pair of connecting rods, the sliding plate is slidably arranged on the moving seat and connected with the electric push rod, the upper and lower ends of the first connecting plate are connected with the sliding plate through the connecting rods, and the clamping block is detachably installed on the first connecting plate.

[0011] Further, the clamping block is detachably connected with the first connecting plate through a clamping mechanism, the clamping mechanism comprises a male buckle, a female buckle and a compression spring, the male buckle is installed on the inner groove of the clamping block, the female buckle is installed in the sink of the first connecting plate, a pair of hooks of the male buckle are clamped and connected with the stopper in the female buckle, and the two ends of the compression spring are respectively pressed between the pair of hooks.

[0012] Further, the male buckle further comprises a base, a pair of first arms, a pair of bent portions and a pair of second arms, the base is installed in the inner groove, a pair of first arms are respectively installed at the two ends of the base, the bent portion is connected at the end of the corresponding first arm, and the second arm is connected between the corresponding bent portion and the corresponding hook.

[0013] Further, a through hole is formed in the middle of the right end of the female buckle, and the through hole penetrates the mounting groove of the female buckle.

[0014] Further, an accommodating groove is formed in the inner wall of the through hole, a rubber ring is arranged in the accommodating groove, and the abutting surface of the second arm abuts on the rubber ring.

[0015] Further, the rubber ring abuts on the inclined wall and the inner side wall of the accommodating groove and abuts on the abutting surface of the second arm.

[0016] Further, the inclined wall is arranged to be inclined relative to the inner side wall to form a wedge mechanism.

[0017] Further, a material guide plate is installed at the rear end of the workbench, and a conveying line for conveying the plate material is arranged at the rear end of the material guide plate.

[0018] From the above technical solution, the advantages of the present application are:

[0019] 1. Through the design of the electric push rod and the connecting rod assembly, the clamping mechanism can provide sufficient clamping force, firmly clamp the heavy and uneven surface plate, and ensure the stability during the carrying process, effectively prevent the plate from sliding or deviating.

[0020] 2. The clamping mechanism adopts a modular design, including a moving seat, an electric push rod, a connecting rod assembly and other components, which is simple in structure, easy to install and disassemble, greatly shortens the maintenance time of the robot and improves the maintenance efficiency.

[0021] 3. The clamping block is detachably connected with the first connecting plate through the clamping mechanism, the clamping mechanism comprises a male buckle, a female buckle and a compression spring, and the design ensures the reliable connection between the clamping block and the first connecting plate, and even if the clamping block is impacted by external force during the carrying process, the clamping block can also maintain a stable clamping state.

[0022] 4. The male buckle and the female buckle are clamped and connected through the clamping hook and the stopper, and the self-locking function is realized by the cooperation of the compression spring. Meanwhile, a rubber ring is arranged in the through hole of the female buckle, and the abutting surface of the second supporting arm abuts on the rubber ring, so that the self-locking performance is further enhanced, and accidental loosening of the clamping mechanism is prevented.

[0023] 5. The rubber ring abuts on the inclined wall and the inner side wall of the accommodating groove, and the inclined wall is inclined relative to the inner side wall to form a wedge mechanism, so that the second supporting arm is more difficult to be pulled out when subjected to external force, and the stability of the clamping mechanism is improved.

[0024] 6. The design of the material guide plate and the conveying line installed at the rear end of the workbench enables the plate to be quickly and accurately conveyed to the next process after the carrying is completed, and the efficiency of the entire production line is improved. BRIEF DESCRIPTION OF DRAWINGS

[0025] The accompanying drawings, which form a part of the present application, are used to provide a further understanding of the present application, and the illustrative embodiments of the present application and their description serve the purpose of explaining the present application and do not constitute improper limitations on the present application.

[0026] Figure 1 FIG. 1 is a structural schematic view of the present application.

[0027] Figure 2 FIG. 2 is a partial structural enlarged schematic view of FIG. 1. Figure 1

[0028] Figure 3 FIG. 3 is a partial structural enlarged schematic view of FIG. 1. Figure 2

[0029] Figure 4 FIG. 4 is a structural schematic view of the clamping block and the first connecting plate.

[0030] Figure 5 FIG. 5 is a partial enlarged structural schematic view of A of FIG. 1. Figure 4

[0031] Figure 6 FIG. 6 is a structural schematic view of the position relationship between the plate carrying robot and the conveying line. ​​​

[0032] Explanation of reference signs: 1, workbench; 11, support; 12, material guide plate; 13, first sliding groove; 2, support leg; 3, driving motor; 31, gear; 32, rack; 4, clamping mechanism; 41, moving seat; 411, second sliding groove; 412, sliding rail; 42, electric push rod; 43, sliding plate; 44, connecting rod assembly; 441, first connecting plate; 4411, sink; 442, fixed block; 443, connecting rod; 447, second connecting plate; 45, clamping block; 451, inner groove; 46, sliding block; 7, clamping mechanism; 71, sub buckle; 711, first supporting arm; 712, bending part; 713, second supporting arm; 7131, abutting surface; 714, clamping hook; 72, female buckle; 721, mounting groove; 722, accommodating groove; 7221, inclined wall; 7222, inner side wall; 723, through hole; 73, compression spring; 74, fixing screw; 75, stop block; 76, rubber ring; 8, conveying line; 9, AGV trolley. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with reference to the embodiments and drawings. Herein, the illustrative embodiments of the present application and the description thereof are used to explain the present application, but not as a limitation of the present application.

[0034] Reference Figures 1 to 6 As Figure 1 , Figure 2 , Figure 3As shown, the embodiment provides a robot for plate carrying, which is composed of a workbench 1, a pair of transmission assemblies, a pair of clamping mechanisms 4 and an AGV 9. The workbench 1 is installed on the vehicle body of the AGV 9 through a plurality of supporting legs 2 arranged at the bottom. The pair of transmission assemblies are arranged at the left and right ends of the lower part of the workbench 1 respectively. The transmission assembly is composed of a driving motor 3, a gear 31 and a rack 32. The driving motor 3 is installed on a bracket 11 which is installed on the inner side of the supporting leg 2 at the front end. The gear 31 is connected with the output end of the driving motor 3. The gear 31 is in meshing transmission with the rack 32. The pair of clamping mechanisms 4 are installed at the left and right ends of the upper part of the workbench 1 respectively. The clamping mechanism 4 is composed of a moving seat 41, an electric push rod 42, a sliding rail 412 and a connecting rod assembly 44. The moving seat 41 is in sliding fit connection with a first sliding groove 13 which is arranged on the workbench 1. The lower end of the moving seat 41 is fixedly connected with the rack 32. The electric push rod 42 is installed on the vertical plate of the moving seat 41. The sliding rail 412 is installed at the lower end of the moving seat 41. The sliding rail 412 is in sliding fit connection with the first sliding groove 13. A second sliding groove 411 is arranged on the horizontal plate of the moving seat 41. The connecting rod assembly 44 is composed of a sliding plate 43, a first connecting plate 441 and a pair of connecting rods 443. The upper and lower ends of the first connecting plate 441 are both provided with a fixed block 442. The upper and lower ends of the sliding plate 43 are both provided with a second connecting plate 447. The connecting rod 443 is fixedly connected with the fixed block 442 and the second connecting plate 447. The first connecting plate 441 is provided with a clamping block 45. The lower end of the sliding plate 43 is provided with a sliding block 46. The sliding block 46 is in sliding fit connection with the second sliding groove 411. The sliding plate 43 is fixedly connected with the push rod of the electric push rod 42.

[0035] As shown in Figure 4 and Figure 5 As shown, the clamping block 45 is detachably connected with the first connecting plate 441 through a clamping mechanism 7. The clamping mechanism 7 is composed of a male buckle 71, a female buckle 72 and a compression spring 73. The male buckle 71 is installed at the inner groove 451 of the clamping block 45 through a fixing screw 74. The female buckle 72 is fixedly installed in a sunken groove 4411 of the first connecting plate 441. A pair of clamping hooks 714 of the male buckle 71 are in clamping connection with a stop block 75 in the female buckle 72. The compression spring 73 is contained in an installation groove 721 of the female buckle 72. The two ends of the compression spring 73 are respectively pressed between the pair of clamping hooks 714. The pair of clamping hooks 714 and the compression spring 73 are both located in the installation groove 721.

[0036] More preferably, the sub buckle 71 further comprises a base, a pair of first arms 711, a pair of bending portions 712 and a pair of second arms 713, the base is installed in the inner groove 451 through the fixing screw 74, the pair of first arms 711 are respectively installed at both ends of the base, the bending portion 712 is connected at the end of the corresponding first arm 711, and the second arm 713 is connected between the corresponding bending portion 712 and the corresponding clamping hook 714. The right middle part of the female buckle 72 is provided with a through hole 723, and the through hole 723 is in communication with the mounting groove 721.

[0037] As shown in Figure 5 , in order to reliably connect the sub buckle 71 and the female buckle 72, a containing groove 722 is formed on the inner wall of the through hole 723, and a rubber ring 76 is arranged in the containing groove 722, and the abutting surface 7131 of the second arm 713 abuts on the rubber ring 76.

[0038] In order to further improve the reliability of the connection between the sub buckle 71 and the female buckle 72, two containing grooves 722 are usually provided to arrange two rubber rings 76, and three containing grooves 722 can also be provided to arrange three rubber rings 76.

[0039] In order to reliably abut and lock the second arm 713 and the rubber ring 76, the rubber ring 76 abuts on the inclined wall 7221 and the inner side wall 7222 of the containing groove 722, and abuts on the abutting surface 7131 of the second arm 713. The inclined wall 7221 is inclined relative to the inner side wall 7222 to form a wedge mechanism, so as to realize self-locking of the second arm 713 and the rubber ring 76.

[0040] As shown in Figure 6 , the rear end of the workbench 1 is provided with a guide plate 12, and the rear end of the guide plate 12 is provided with a conveying line 8 for conveying plates.

[0041] Referring to Figures 1 to 6 , the working process of the robot for plate conveying provided in the embodiment is as follows:

[0042] 1. Initial state

[0043] The robot is installed on the vehicle body of the AGV trolley 9 through the supporting leg 2, so as to ensure that the robot can move with the AGV trolley 9. The workbench 1 is in a horizontal state, the drive motor 3 of the pair of transmission assemblies is in a standby state, the gear 31 is engaged with the rack 32, and is ready for transmission. The moving seat 41 of the pair of clamping mechanisms 4 is located in the first sliding groove 13 on the workbench 1, the electric push rod 42 is in a retracted state, and the connecting rod assembly 44 and the clamping block 45 are in an initial position. The AGV trolley 9 moves to the end of the previous process, and is ready to receive the plate.

[0044] 2. Plate positioning and approaching

[0045] The control system starts two drive motors 3, which drive the moving seat 41 to move forward along the first sliding groove 13 through the meshing transmission of the gear 31 and the rack 32, so that the clamping mechanism 4 approaches the plate.

[0046] 3. Clamping the plate

[0047] When the clamping mechanism 4 approaches the plate to a certain distance, the electric push rod 42 is started, the push rod is extended, and the sliding plate 43 is pushed to slide along the second sliding groove 411. The movement of the sliding plate 43 is transmitted through the connecting rod assembly 44, so that the first connecting plate 441 drives the clamping block 45 to approach the plate, and the clamping block 45 tightly adheres to the surface of the plate to firmly clamp the plate.

[0048] 4. Plate carrying

[0049] After the clamping block 45 firmly clamps the plate, the control system controls the AGV car 9 to start and carries the plate to the front end of the conveying line 8 according to the preset path and speed. During the carrying process, the clamping mechanism 4 maintains a stable clamping force to ensure that the plate does not slip or damage. At the same time, the AGV car 9 ensures safety and stability during the carrying process through its navigation and obstacle avoidance system. If necessary, the robot can also adjust the carrying path or speed according to the instructions of the control system to adapt to different working environments and task requirements. At the same time of carrying, the drive motor 3 starts to bring the moving seat 41 and the clamping mechanism 4 back to the initial position, and the plate is located above the guide plate 12.

[0050] 5. Plate release and reset

[0051] After reaching the front end of the conveying line 8, the electric push rod 42 is retracted, the sliding plate 43 is pushed to slide in reverse, and through the connecting rod assembly 44, the clamping block 45 is loosened from the plate. The guide plate 12 guides the plate to fall smoothly into the conveying line 8, and then prepares for the next plate carrying.

[0052] During the work process, since the clamping block 45 is in contact with the surface of the plate for a long time, the surface of the clamping block 45 will be uneven, and the clamping block 45 needs to be replaced. The clamping block 45 can be easily disassembled and replaced through the clamping mechanism 7. The design of the clamping mechanism 7 makes the connection between the male buckle 71 and the female buckle 72 firm and easy to disassemble, which is convenient for maintenance and replacement.

[0053] Through the above working process, the robot for plate carrying provided by the embodiment can efficiently and stably complete the plate carrying task, and has good flexibility and maintainability. The addition of the AGV car 9 enables the robot to freely move between different working areas, further improving production efficiency.

[0054] Characteristics of the clamping mechanism action:

[0055] Stability: The clamping mechanism 4 realizes stable clamping of the plate through the cooperation of the electric push rod 42, the sliding rail 412, the linkage assembly 44 and the clamping block 45.

[0056] Reliability: The design of the clamping mechanism 7 ensures the self-locking function during clamping, improving the reliability of clamping.

[0057] Easy to maintain: The components of the clamping mechanism 7 are designed in a modular manner, which facilitates disassembly and replacement, reducing maintenance costs.

[0058] In summary, the present application provides a robot for plate carrying, which has strong clamping force, simple structure, reliable connection, strong self-locking performance, high stability and high conveying efficiency, meeting the efficient and stable requirements of plate carrying in automatic production operation.

[0059] The above is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can be variously changed and modified. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot for sheet material handling, characterized by, The utility model relates to a kind of AGV workbench, including: Workbench (1) is installed on the car body of AGV trolley (9); A pair of transmission assemblies are respectively arranged at the left and right ends of the lower portion of the workbench (1), and the transmission assembly includes a drive motor (3), a gear (31) and a rack (32). The drive motor (3) is installed at the lower portion of the workbench (1). The gear (31) is connected to the output end of the drive motor (3). The gear (31) is in meshing transmission with the rack (32). A pair of clamping mechanisms (4) are respectively installed at the left and right ends of the upper portion of the workbench (1). The clamping mechanism (4) includes a moving seat (41), an electric push rod (42) and a linkage assembly (44). The moving seat (41) is in sliding fit connection with the workbench (1). The lower end of the moving seat (41) is provided with the rack (32). The electric push rod (42) is installed on the moving seat (41). The linkage assembly (44) includes a sliding plate (43), a first connecting plate (441) and a pair of connecting rods (443). The sliding plate (43) is slidingly arranged on the moving seat (41) and connected with the electric push rod (42). The upper and lower ends of the first connecting plate (441) are connected with the sliding plate (43) through the connecting rods (443). The first connecting plate (441) is detachably provided with a clamping block (45).

2. The robot for sheet material handling according to claim 1, characterized in that, The clamping block (45) is detachably connected with the first connecting plate (441) through a clamping mechanism (7). The clamping mechanism (7) includes a male buckle (71), a female buckle (72) and a compression spring (73). The male buckle (71) is installed in an inner groove (451) of the clamping block (45). The female buckle (72) is installed in a sunken groove (4411) of the first connecting plate (441). A pair of clamping hooks (714) of the male buckle (71) are clamped and connected with a stopper (75) in the female buckle (72). The two ends of the compression spring (73) are respectively pressed between the pair of clamping hooks (714).

3. The robot for sheet material handling according to claim 2, characterized in that, The male buckle (71) further includes a base, a pair of first supporting arms (711), a pair of bent portions (712) and a pair of second supporting arms (713). The base is installed in the inner groove (451). The pair of first supporting arms (711) are respectively installed at the two ends of the base. The bent portion (712) is connected to the end of the corresponding first supporting arm (711). The second supporting arm (713) is connected between the corresponding bent portion (712) and the corresponding clamping hook (714).

4. The robot for sheet material handling according to claim 3, characterized in that, A through hole (723) is formed in the right middle portion of the female buckle (72). The through hole (723) penetrates the mounting groove (721) of the female buckle (72).

5. The robot for sheet material handling according to claim 4, characterized in that, An accommodating groove (722) is formed in the inner wall of the through hole (723). A rubber ring (76) is arranged in the accommodating groove (722). The abutting surface (7131) of the second supporting arm (713) abuts against the rubber ring (76).

6. The robot for sheet material handling according to claim 5, characterized in that, The rubber ring (76) abuts against the inclined wall (7221) and the inner side wall (7222) of the accommodating groove (722), and abuts against the abutting surface (7131) of the second supporting arm (713).

7. The robot for sheet material handling according to claim 6, characterized in that, The inclined wall (7221) is arranged to be inclined relative to the inner side wall (7222) to form a wedge mechanism.

8. The robot for sheet material handling according to claim 1, wherein, The rear end of the workbench (1) is provided with a material guide plate (12), and the rear end of the material guide plate (12) is provided with a conveying line (8) for conveying plates.

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