Composite board stacking manipulator

Abstract

The utility model discloses a composite board stacking manipulator which comprises a driving box body, a lifting sliding seat is installed on the driving box body in a lifting mode, the lifting sliding seat is driven by a lifting power device to ascend and descend, a transverse sliding rod is installed on the lifting sliding seat in a transverse sliding mode, and the transverse sliding rod is driven by a transverse power device to slide. A connecting rod is rotationally installed at the free end of the transverse sliding rod with the longitudinal direction as the axis, the connecting rod is driven by a rotating power device to rotate, an adsorption support is fixedly installed on the connecting rod, and an adsorption structure for adsorbing the composite board is arranged on the adsorption support; the stacking manipulator can adsorb, freely lift and transversely move a conveyed composite plate, can turn over the plate surface, is high in flexibility and compact in structure, and improves the practicability.

Description

TECHNICAL FIELD

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

[0002] After the board is completed with composite, film pasting and fixed-length cutting on the production line, it is offline, and because of the requirement of board stacking, two boards must be front-to-front stacked to ensure that the surface of the board product is not scratched. The traditional production line completes the front-to-front stacking of two boards in the following way: workers manually perform board connecting, board turning and stacking. With this way, the labor intensity of workers is high, the labor cost is large, the work efficiency is low and the stacking is uneven.

[0003] Patent No. 202010729799.3 discloses a board turning and stacking device. The device needs at least two roller conveyors, and a board turning and feeding mechanism is arranged on one of the roller conveyors to turn the board to the other roller conveyor. The transfer machine adsorbs the board to the stacking platform to ensure the accuracy of the stacking of the composite board. However, the transfer machine can only move linearly and adsorb the composite board by lifting, the operation is single, multiple conveyors are needed, an additional board turning and feeding mechanism is needed to cooperate, the floor area is increased, the use cost is also increased, and the structure is more complex. UTILITY MODEL CONTENT

[0004] The technical problem to be solved by the utility model is to provide a composite board stacking manipulator which can adsorb the composite board conveyed, freely lift and move horizontally, turn the board surface, has high flexibility, compact structure and improved practicability.

[0005] To solve the above technical problem, the technical scheme of the utility model is as follows: a composite board stacking manipulator, comprising a driving box body, a lifting slide seat is installed on the driving box body and driven to lift by a lifting power device, a horizontal slide rod is horizontally and slidably installed on the lifting slide seat and driven to slide by a horizontal power device, a connecting rod is rotatably installed on the free end of the horizontal slide rod as an axis, the connecting rod is driven to rotate by a rotating power device, an adsorption support is fixedly installed on the connecting rod, and an adsorption structure for adsorbing the composite board is arranged on the adsorption support.

[0006] As a preferred scheme, the adsorption support is a rectangular frame, a frame cross bar is arranged in the middle of the rectangular frame and fixedly connected with the connecting rod, the adsorption structure comprises a plurality of adsorption suction cups, the adsorption suction cups are vertically installed on the rectangular frame in sequence, and the adsorption suction cups are connected with a negative pressure air extraction system.

[0007] As a preferred scheme, the lifting slide penetrates and drives the box body to slide, the driving box body top is provided with driving sprocket and driven sprocket which are rotatably installed on the lateral sides, the lifting power device drives the driving sprocket to rotate, the lifting slide is connected with one end of the chain, the chain is wound through the driving sprocket and the driven sprocket, the other end of the chain is connected with the counterweight slide, the counterweight slide is slidably installed on the driving box body, and the lifting direction of the counterweight slide is opposite to that of the lifting slide.

[0008] As a preferred scheme, the lifting power device comprises a double-head driving motor which is fixedly installed on the driving box body top, two lifting slides are slidably installed on the driving box body, the driving box body top is provided with two groups of driving sprocket and driven sprocket, and the output shafts of the double-head driving motor are connected with the driving sprocket respectively.

[0009] As a preferred scheme, the lateral slide is provided with a lateral slide which is matched with the lifting slide, the lateral power device is a lateral linear motor, and the lateral linear motor is fixedly installed on the lifting slide to drive the lateral slide to slide.

[0010] As a preferred scheme, the rotating power device comprises a rotating cylinder which is fixedly and angularly deflected, the rotating cylinder is fixedly installed on the free end of the lateral slide, and the rotating cylinder is connected and fixed with the frame cross bar through a connecting rod.

[0011] As a preferred scheme, the driving box body is provided with two strip-shaped through holes, the lateral slide is fixedly installed on the connecting seat which is protruded from the strip-shaped through hole and located inside the driving box body.

[0012] As a preferred scheme, the adsorption support is fixedly installed with a lower supporting plate and an upper fixed plate, the negative pressure pipeline of the adsorption sucker is fixedly installed between the lower supporting plate and the upper fixed plate, the upper fixed plate is fixedly installed on the adsorption support through screws, and the negative pressure pipeline is connected with a negative pressure connector.

[0013] The utility model discloses a technical scheme is adopted, the effect of the utility model is: because the composite board stacking manipulator, including drive box, drive box is installed with the lifting slide on the lifting, lifting slide is driven lifting through lifting power device, the transverse slide bar is installed with the transverse sliding on lifting slide, the transverse slide bar is driven sliding through the transverse power device, the free end of transverse slide bar is installed with the connecting rod with longitudinal as the axis rotation, connecting rod is driven rotation through rotating power device, connecting rod is fixedly installed with the adsorption support, the adsorption structure of adsorption composite board is equipped with on adsorption support, first lifting power device drives lifting slide sliding, this can drive the transverse slide bar lifting, then the transverse power device drives the transverse slide bar sliding to make the adsorption support transverse sliding, this can arbitrary lifting transverse sliding, makes the adsorption support accurate in composite board above, when rotating power device drives adsorption support overturning simultaneously, can change the orientation of composite board board face, satisfy the front relative when the composite board is stacked, protect composite board, the stacking manipulator can carry out adsorption free lifting transverse movement to the composite board of conveying, can also carry out board face overturning, and the flexibility is high, and the structure is compact, improves practicality.

[0014] And because the adsorption support is rectangular frame, the frame cross bar of fixed connection is equipped with in the middle part of rectangular frame, the adsorption structure is a plurality of adsorption suction cups, the adsorption suction cup is vertically installed on rectangular frame in proper order, the adsorption suction cup is connected negative pressure air extraction system, and the negative pressure air extraction system ensures that the adsorption suction cup can stably and firmly adsorb the composite board, and the adsorption support of rectangular frame can ensure that the range of adsorbing the composite board is wide, and the adsorption stability is improved.

[0015] And because the lifting slide penetrates drive box and slides up and down, the driving sprocket and driven sprocket are rotatably installed on the top of the drive box on both sides in the transverse direction, the lifting power device drives the driving sprocket to rotate, the chain is connected to one end of the lifting slide, the chain is wound around the driving sprocket and the driven sprocket, the other end of the chain is connected to the counterweight slide, the counterweight slide is slidably installed on the drive box, and the lifting direction of the counterweight slide is opposite to that of the lifting slide; the chain cooperates with the driving sprocket and the driven sprocket, and the transmission is stable and reliable, and the counterweight slide can ensure that the sprocket is tensioned, so that the lifting slide is more reliably and stably pulled when the driving sprocket is driven to rotate by the lifting power device.

[0016] And because the lifting power device includes a double-head drive motor fixedly installed on the top of the drive box, two lifting slides are slidably installed on the drive box, two sets of driving sprockets and driven sprockets are arranged on the top of the drive box, and the output shafts of the double-head drive motor are connected to the driving sprockets, respectively; the two lifting slides ensure that the adsorption support is firmly connected, and the adsorption support can be stably and reliably turned over, the two driving sprockets are driven by the double-head drive motor, the efficiency is improved, and the cost is reduced.

[0017] Further, the transverse power device is a transverse linear motor, the transverse linear motor is fixedly installed on the lifting slide and drives the transverse slide rod to slide, the transverse linear motor drives the transverse slide to slide, the structure is simple, driving is convenient, and the sliding efficiency of the transverse slide rod is improved.

[0018] Further, the rotating power device comprises a rotating cylinder, the rotating cylinder is fixedly angularly deflected, the rotating cylinder is fixedly installed on the free end of the transverse slide rod, and the rotating cylinder is connected and fixed with the frame cross rod through a connecting rod; the rotating cylinder is simple and reliable in driving, and the turnover efficiency of the composite board is improved.

[0019] Further, two strip-shaped through holes are arranged on the driving box body, the connecting seats are fixedly installed on the lifting slide and extend from the strip-shaped through holes to the inside of the driving box body and fix the transverse slide, the lifting slide is arranged in the inside of the driving box body, the internal space is fully utilized, the two strip-shaped through holes correspond to the two connecting seats and connect the transverse slides respectively, the support of the transverse slide is ensured to be stable, and therefore the adsorption support is stable and reliable when the composite board is adsorbed.

[0020] Further, the lower supporting plate and the upper fixing plate are fixedly installed on the adsorption support, the negative pressure pipeline of the adsorption suction cup is fixedly installed between the lower supporting plate and the upper fixing plate, the upper fixing plate is fixedly installed on the adsorption support through screws, and the negative pressure connector is connected to the negative pressure pipeline; in this way, the positioning and installation of each adsorption suction cup are facilitated, the lower supporting plate can support the negative pressure pipeline, the upper fixing plate can press the negative pressure pipeline, and the installation efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] The utility model will be further explained in connection with the drawings and embodiments.

[0022] Figure 1 is the perspective view of the utility model embodiment;

[0023] Figure 2 is the structure schematic view of the rear side of the utility model embodiment;

[0024] In the drawings: 1, driving box body; 2, lifting slide; 3, connecting seat; 4, transverse slide rod; 5, connecting rod; 6, adsorption support; 7, frame cross rod; 8, adsorption suction cup; 9, negative pressure pipeline; 10, driving sprocket; 11, driven sprocket; 12, counterweight slide; 13, strip-shaped through hole; 14, double-head driving motor; 15, transverse slide; 16, transverse linear motor; 17, rotating cylinder; 18, chain; 19, lower supporting plate; 20, upper fixing; 21, negative pressure connector. DETAILED DESCRIPTION

[0025] The utility model will be further explained in connection with the drawings and embodiments.

[0026] AsFigure 1 and Figure 2 As shown, a composite board palletizing robot includes a drive housing 1, on which a lifting slide 2 is mounted vertically. The lifting slide 2 is driven to rise and fall by a lifting power device. A transverse slide rod 4 is slidably mounted on the lifting slide 2. The transverse slide rod 4 is driven to slide by a transverse power device. A connecting rod 5 is rotatably mounted on the free end of the transverse slide rod 4 about the longitudinal axis. The connecting rod 5 is driven to rotate by a rotation power device. An adsorption bracket 6 is fixedly mounted on the connecting rod 5. The adsorption bracket 6 is provided with an adsorption structure for adsorbing composite boards.

[0027] like Figure 1 As shown, the adsorption support 6 is a rectangular frame, with a frame crossbar 7 fixedly connected to the connecting rod 5 in the middle of the rectangular frame. The adsorption structure consists of several adsorption suction cups 8, which are vertically installed sequentially on the rectangular frame. The adsorption suction cups 8 are connected to a negative pressure suction system. The negative pressure suction system ensures that the adsorption suction cups 8 can adsorb the composite plate stably and firmly, thus cooperating with the flipping mechanism. The adsorption support 6 of the rectangular frame can ensure a wide range of adsorption of the composite plate and improve adsorption stability.

[0028] like Figure 1 and Figure 2 As shown, the lifting slide 2 slides and rises through the drive housing 1. A drive sprocket 10 and a driven sprocket 11 are rotatably mounted on the top of the drive housing 1 on both sides. The lifting power device drives the drive sprocket 10 to rotate. One end of a chain 18 is connected to the lifting slide 2. The chain 18 winds around the drive sprocket 10 and the driven sprocket 11. The other end of the chain 18 is connected to a counterweight slide 12. The counterweight slide 12 is slidably mounted on the drive housing 1, and its lifting direction is opposite to that of the lifting slide 2. The drive housing 1 has two strip-shaped through holes 13. The lifting slide 2 is located inside the drive housing 1 and extends from the strip-shaped through holes 13 to the connecting seat 3 for fixed installation of the transverse slide 15. Then, the chain 18 cooperates with the driving sprocket 10 and the driven sprocket 11, and the transmission is stable and reliable. The counterweight slide 12 can ensure the tension of the sprocket. When the driving sprocket 10 is driven to rotate by the lifting power device, the sliding of the lifting slide 2 is more reliable and stable. The counterweight slide 12 and the lifting slide 2 are located on opposite sides of the drive housing 1, which can ensure the tension of the chain 18.

[0029] In this embodiment, the lifting power device includes a dual-head drive motor 14 fixedly installed on the top of the drive housing 1. The drive housing 1 has two lifting slides 2 that slide vertically. The top of the drive housing 1 is provided with two sets of driving sprockets 10 and driven sprockets 11. The output shaft of the dual-head drive motor 14 is connected to the driving sprockets 10 respectively. The two lifting slides 2 ensure the firm connection of the adsorption bracket 6 and are stable and reliable when flipping. The dual-head drive motor 14 drives the two driving sprockets 10, which improves efficiency and reduces cost.

[0030] In this embodiment, the transverse slide bar 4 is provided with a transverse slide block 15 that cooperates with the lifting slide block 2. The transverse power device is a transverse linear motor 16, which is fixedly installed on the lifting slide block 2 to drive the transverse slide bar 4 to slide. The transverse linear motor 16 drives the transverse slide block 15 to slide, which can drive the adsorption bracket 6 to move back and forth effectively between different work positions, improve the flexibility of the structure, make the structure simple, drive convenient, and improve the sliding efficiency of the transverse slide bar 4. The transverse slide block 15 and the transverse slide bar 4 are driven by a common linear motor drive structure on the market, so they will not be described in detail in the text.

[0031] Furthermore, the rotation power device includes a rotating cylinder 17, which deflects at a fixed angle. The rotating cylinder 17 is fixedly installed at the free end of the transverse slide bar 4, and is connected and fixed to the frame crossbar 7 via a connecting rod 5. While driving the connecting rod 5 to deflect, the rotating cylinder 17 also causes the adsorption bracket 6 to swing. At the same time, the rotating cylinder 17 can limit the deflection angle to ensure accurate flipping. This allows the orientation of the front and back of the composite board to be changed, effectively protecting the front of the composite board. In use, the rotating cylinder 17 is simple and reliable to drive, improving the flipping efficiency of the composite board. The rotating cylinder 17 is also an existing structure that can be purchased on the market, so it will not be described in detail in this article.

[0032] In this embodiment, a lower support plate 19 and an upper fixing plate 20 are fixedly installed on the adsorption bracket 6. The negative pressure pipe 9 of the adsorption suction cup 8 is fixedly installed between the lower support plate 19 and the upper fixing plate 20. The upper fixing plate 20 is fixedly installed on the adsorption bracket 6 by screws. A negative pressure connector 21 is connected to the negative pressure pipe 9. This facilitates the positioning and installation of each adsorption suction cup 8. The lower support plate 19 can support the negative pressure pipe 9, and the upper fixing plate 20 can press the negative pressure pipe 9, thereby improving the installation efficiency.

[0033] The working principle of this embodiment is as follows: First, the dual-head drive motor 14 drives the drive sprocket 10 to rotate, which in turn drives the lifting slide 2 to descend via the chain 18. This causes the horizontal slide bar 4 to rise and fall. The horizontal linear motor 16 drives the horizontal slide bar 4 to slide laterally via the horizontal slide bar 15, so that the adsorption bracket 6 is above the composite plate. Then, the adsorption bracket 6 continues to descend, and the adsorption suction cup 8 adsorbs the composite plate. Then, the horizontal slide bar 4 continues to slide laterally to complete the movement of different work positions. At the same time, when it is necessary to flip the composite plate, the rotating cylinder 17 drives the adsorption bracket 6 to flip, thus changing the orientation of the composite plate surface.

[0034] The above-described embodiments are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Any modifications and alterations to the technical solution of the present utility model without departing from its design spirit shall fall within the protection scope defined by the claims of the present utility model.

Claims

1. A composite board palletizing robot, comprising a drive housing, characterized in that: A lifting slide is mounted on the drive housing. The lifting slide is driven to rise and fall by a lifting power device. A transverse slide rod is slidably mounted on the lifting slide. The transverse slide rod is driven to slide by a transverse power device. A connecting rod is rotatably mounted on the free end of the transverse slide rod about the longitudinal axis. The connecting rod is driven to rotate by a rotation power device. An adsorption bracket is fixedly mounted on the connecting rod. The adsorption bracket is provided with an adsorption structure of an adsorption composite plate.

2. The composite board palletizing robot as described in claim 1, characterized in that: The adsorption support is a rectangular frame, and a frame crossbar is fixedly connected to the connecting rod in the middle of the rectangular frame. The adsorption structure consists of several adsorption suction cups, which are vertically installed on the rectangular frame in sequence. The adsorption suction cups are connected to a negative pressure air extraction system.

3. The composite board palletizing robot as described in claim 2, characterized in that: The lifting slide slides through the drive housing. The top of the drive housing has a drive sprocket and a driven sprocket rotatably mounted on both sides. The lifting power device drives the drive sprocket to rotate. One end of a chain is connected to the lifting slide. The chain winds around the drive sprocket and the driven sprocket. The other end of the chain is connected to a counterweight slide. The counterweight slide is slidably mounted on the drive housing. The lifting direction of the counterweight slide is opposite to that of the lifting slide.

4. The composite board palletizing robot as described in claim 3, characterized in that: The lifting power device includes a dual-head drive motor fixedly installed on the top of the drive housing. There are two lifting slides on the drive housing. The top of the drive housing is provided with two sets of driving sprockets and driven sprockets. The output shafts of the dual-head drive motors are respectively connected to the driving sprockets.

5. A composite board palletizing robot as described in claim 4, characterized in that: The transverse slide bar is provided with a transverse slide block that cooperates with the lifting slide block. The transverse power device is a transverse linear motor, which is fixedly installed on the lifting slide block to drive the transverse slide bar to slide.

6. The composite board palletizing robot as described in claim 5, characterized in that: The rotational power device includes a rotating cylinder, which deflects at a fixed angle. The rotating cylinder is fixedly installed at the free end of the transverse slide bar and is connected and fixed to the frame crossbar via a connecting rod.

7. A composite board palletizing robot as described in claim 6, characterized in that: The drive housing has two strip-shaped through holes, and the lifting slide is fixedly installed on the connecting seat extending from the strip-shaped through holes inside the drive housing.

8. A composite board palletizing robot as described in claim 7, characterized in that: The adsorption bracket is fixedly installed with a lower support plate and an upper fixing plate. The negative pressure pipe of the adsorption suction cup is fixedly installed between the lower support plate and the upper fixing plate. The upper fixing plate is fixedly installed on the adsorption bracket by screws. A negative pressure connector is connected to the negative pressure pipe.

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