Rotation tooling for decoiling and leveling lines

Abstract

The utility model relates to a decoiling line rotating tooling, and belongs to the field of tooling. According to the technical scheme, the decoiling line rotating tooling comprises a grabbing assembly and two bases, the bases are used for being connected with a basic plane of a workshop, a first connecting shaft is rotatably installed between the two bases, a driving motor is further installed on one base, an output shaft of the driving motor is fixedly connected with the first connecting shaft, and the output shaft of the driving motor is fixedly connected with the second connecting shaft. The two ends of the first connecting shaft are each provided with a telescopic assembly, the first connecting shaft is horizontally arranged, the telescopic direction of the telescopic assemblies is perpendicular to the first connecting shaft, a second connecting shaft is arranged between the telescopic ends of the two telescopic assemblies, and the grabbing assembly is arranged on the second connecting shaft. The device is installed on the ground of a workshop, the moving range of the grabbing assembly is expanded through swinging and stretching, the requirements for the horizontal occupied area and the vertical space height of the workshop are greatly reduced, the overall structure is simple, the installation and debugging difficulty and cost are reduced, and the use flexibility is higher.

Description

Technical Field

[0001] This utility model relates to the field of end effectors, and in particular to a rotary end effector for a flattened line. Background Technology

[0002] A sheet metal leveling and shearing production line is a key set of equipment in the metal sheet processing industry. It is mainly used to process coiled metal sheets into flat sheets that meet specific dimensional requirements through a series of continuous processes including unwinding, leveling, shearing, and blanking, providing the basic raw materials for subsequent deep processing stages such as stamping, bending, and welding. Among these, the blanking device, as the final critical link of the leveling line, is responsible for accurately and efficiently transporting the sheared finished sheets to designated workstations or storage areas. Its structural design and operational stability have a significant impact on the overall production line's capacity, product qualification rate, and space utilization.

[0003] Currently, most shearing line cutting systems employ a truss structure, based on the motion principle of a truss robotic arm. It mainly consists of a truss body, a moving slide, a gripping mechanism (such as suction cups or clamps), and a drive system. The truss body is typically constructed of high-strength aluminum alloy or steel, forming a gantry-style frame structure spanning the end of the shearing line. The moving slide moves along the crossbeams and longitudinal beams of the truss, driving the gripping mechanism to achieve spatial movement in the X, Y, and Z directions. In actual operation, after the shearing line completes the cutting of the sheet metal, the gripping mechanism of the truss-type cutting structure moves above the sheet metal under the command of the control system. It then fixes the sheet metal by suction cup adsorption or clamping, and subsequently transfers it along a preset trajectory to the cutting station, conveyor line, or rack, completing one cutting cycle.

[0004] However, the gantry frame of the truss-type material cutting structure needs to cover the entire working area at the end of the leveling line, requiring not only sufficient horizontal floor space in the workshop but also a high vertical height. The truss structure has a large number of components, including precision parts such as guide rails, sliders, lead screws, and drive motors. Its installation process requires strict assurance of the parallelism, perpendicularity, and coaxiality of each component, resulting in a long debugging cycle and extremely high professional requirements for installation technicians. Utility Model Content

[0005] This invention addresses the problems of large size, complex installation and debugging, and high cost of current truss-type end effectors by providing a flexible and low-cost horizontal line rotary end effector.

[0006] To address the aforementioned problems, the present invention provides a rotary end-feeder for leveling lines, comprising a gripping component and two bases. The bases connect to the workshop's foundation surface, and a first connecting shaft is rotatably mounted between the two bases. A drive motor is mounted on one of the bases, and the output shaft of the drive motor is fixedly connected to the first connecting shaft. A telescopic component is located at each end of the first connecting shaft. The first connecting shaft is horizontally positioned, and the telescopic components extend and retract perpendicularly to the first connecting shaft. The telescopic ends of the telescopic components are positioned away from the bases, and a second connecting shaft connects the telescopic ends of the two telescopic components. The gripping component is mounted on the second connecting shaft. This device is installed on the workshop floor, expanding the range of motion of the gripping component through swinging and telescopic movements. It eliminates the need for a large gantry frame, significantly reducing the horizontal floor space and vertical height requirements of the workshop. Furthermore, its simple overall structure reduces installation and debugging difficulty and costs, and offers greater flexibility in use.

[0007] As a preferred implementation of a rotary end effector for a leveling line, the telescopic component is a telescopic cylinder. Two telescopic cylinders are arranged parallel to each other and perpendicular to the first connecting shaft. The cylinder bodies of the two telescopic cylinders are respectively connected to the two ends of the first connecting shaft. The synchronous operation of the two telescopic cylinders provides a more uniform thrust, avoiding gripping deviation caused by uneven force distribution in a single telescopic structure. It also enhances the load-bearing capacity of the telescopic component, adapting to the material handling requirements of plates of different weights.

[0008] As a preferred implementation of a rotary end effector for a flattening line, the second connecting shaft includes a shaft core, and a damping sleeve is fitted around the shaft core. Friction damping is provided between the damping sleeve and the shaft core, and the gripping assembly is fixedly mounted on the outer circumferential surface of the damping sleeve. The friction damping structure effectively counteracts the attitude deviation of the gripping assembly due to rotational inertia, ensuring the material remains stable during transport, improving feeding accuracy, and preventing the material from falling off or colliding. Multiple vacuum suction cups work together to increase the adsorption area with the material, enhance the adsorption force, effectively prevent the material from falling off during transport, and adapt to the gripping needs of materials with different flatness levels.

[0009] As a preferred implementation of a rotary end effector for a flattened sheet, the gripping assembly includes a mounting plate. The top surface of the mounting plate is fixedly connected to the outer surface of the damping sleeve, and the bottom surface of the mounting plate is provided with multiple vacuum suction cups. The multiple vacuum suction cups work together to increase the adsorption area with the sheet material, enhance the adsorption force, effectively prevent the sheet material from falling off during transfer, and adapt to the gripping needs of sheets with different flatness.

[0010] As a preferred implementation of a rotary end effector for a slitting line, the bottom surface of the mounting plate is provided with at least two crossbeams. The length of the crossbeams is greater than the length of the mounting plate, and both ends of the crossbeams extend beyond the surface of the mounting plate. Multiple longitudinal beams are installed below the crossbeams, and the vacuum suction cup is mounted on the longitudinal beams. This combination of crossbeams and longitudinal beams expands the installation range of the vacuum suction cup, allowing for flexible adjustment of the suction cup distribution according to the size of the sheet material, adapting to the gripping of different sheet material specifications, and improving the versatility of the equipment.

[0011] As a preferred implementation of a rotary end effector for a leveling line, the bottom of the longitudinal beam is provided with multiple suction cup mounting brackets, which extend downward relative to the longitudinal beam. The vacuum suction cup is located at the lower end of the suction cup mounting bracket. The suction cup mounting bracket extends the installation distance of the vacuum suction cup, allowing the suction cup to more accurately adhere to the surface of the board, avoiding the influence of longitudinal beam obstruction or insufficient distance on the adsorption effect, and further improving gripping stability.

[0012] As a preferred embodiment of a rotary end effector for a slitting line, the suction cup mounting frame includes a fixed frame and a movable rod. The upper end of the fixed frame is fixedly connected to the longitudinal beam, and the movable rod is installed at the lower end of the fixed frame. The movable rod can be raised and lowered relative to the suction cup mounting frame, and the vacuum suction cup is installed at the lower end of the movable rod. The movable rod can be raised and lowered flexibly, allowing the vacuum suction cup to adapt to the unevenness of the board surface, ensuring that each suction cup can tightly adhere to the board, improving the reliability of adsorption, and reducing the deformation of the board caused by uneven force.

[0013] As a preferred implementation of a rotary end effector for a flattening line, multiple vacuum suction cups are arranged in a rectangular array. This rectangular array arrangement ensures uniform force on the material, preventing deformation or detachment due to excessive localized force. It also improves the stability and balance of the suction, ensuring the material remains horizontal during transport and enhancing the quality of material handling.

[0014] As can be seen from the above technical solutions, the advantages of this utility model are as follows: This solution is installed on the ground, and through the combination design of the base and the rotatable telescopic component, there is no need to build a large gantry frame, which greatly reduces the requirements for the horizontal floor space and vertical space height of the workshop. Moreover, the overall structure is simple, reducing the difficulty and cost of installation and debugging, and improving the flexibility of use; the structure of the double base with the first connecting shaft, combined with the direct drive of the drive motor, effectively improves the stability, load-bearing capacity and transmission efficiency of the telescopic component during rotation, ensuring that the material unloading process is accurate and controllable; the double telescopic cylinders work synchronously and are linked through the second connecting shaft, which not only provides a more uniform thrust and avoids gripping deviation, but also enhances the load capacity, while ensuring the stable posture of the gripping component and improving the stability of gripping and transferring the material; the second The friction damping structure of the connecting shaft can counteract the attitude deviation caused by rotational inertia, further improving the feeding accuracy and preventing the sheet material from falling off or colliding. The combined design of the mounting plate, crossbeam, and longitudinal beam in the gripping assembly expands the installation range of the vacuum suction cups, allowing for flexible adjustment of the suction cup distribution according to the sheet material size, thus improving the equipment's versatility. The design of the suction cup mounting frame and its liftable movable rod not only extends the installation distance of the vacuum suction cups and ensures that the suction cups accurately adhere to the sheet material surface, but also adapts to unevenness on the sheet material surface, ensuring that each suction cup fits tightly, improving adsorption reliability and reducing sheet material deformation. Multiple vacuum suction cups arranged in a rectangular array increase the adsorption area and adsorption force, making the sheet material evenly stressed, effectively preventing the sheet material from falling off or deforming during the transfer process, ensuring that the sheet material always maintains a horizontal posture, and improving the feeding quality. Attached Figure Description

[0015] To more clearly illustrate the technical solution of this patent, the drawings used in the description will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this patent. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a structural schematic diagram of a specific embodiment of the present utility model.

[0017] Explanation of main figure symbols

[0018] 1. Base, 2. First connecting shaft, 3. Drive motor, 4. Telescopic cylinder, 5. Second connecting shaft, 5-1. Shaft core, 5-2. Damping sleeve, 6. Mounting plate, 7. Crossbeam, 8. Longitudinal beam, 9. Suction cup mounting bracket, 9-1. Fixed bracket, 9-2. Movable rod, 10. Vacuum suction cup. Detailed Implementation

[0019] To make the objectives, features, and advantages of this patent more apparent and understandable, the technical solutions of this patent will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this patent, and not all embodiments. Based on the embodiments of this patent, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this patent.

[0020] like Figure 1 As shown, the rotary end-feeder for leveling lines disclosed in this utility model includes a gripping component and two bases 1. The bases 1 are used to stably connect to the foundation surface of the workshop, providing reliable support for the entire device. A first connecting shaft 2 is rotatably mounted between the two bases 1 via bearings. A drive motor 3 is also fixedly mounted on the outer wall of one of the bases 1 by bolts. The output shaft of the drive motor 3 is fixedly connected to the first connecting shaft 2 via a coupling, and the middle position of the first connecting shaft 2 is welded and fixed to the fixed end of the telescopic component. The rotation axis between the telescopic component and the base 1 is horizontally arranged, and its extension direction is perpendicular to the rotation axis. The extension end of the telescopic component is located away from the base 1 and the gripping component is mounted thereon. By driving the first connecting shaft 2 to rotate through the drive motor 3, the telescopic component and the gripping component can be rotated around the horizontal axis. In conjunction with the extension and retraction of the telescopic component, the gripping component can move flexibly in space.

[0021] The telescopic assembly includes two identical telescopic cylinders 4, which are arranged parallel to each other and perpendicular to the axis of the first connecting shaft 2. The cylinder bodies of the two telescopic cylinders 4 are fixedly installed at both ends of the first connecting shaft 2 via flanges to ensure balanced force distribution. A second connecting shaft 5 is also fixed between the ends of the telescopic rods of the two telescopic cylinders 4 via locking devices. The gripping assembly is fixedly mounted on the second connecting shaft 5. Through the synchronous extension and retraction of the two telescopic cylinders 4, the second connecting shaft 5 and the gripping assembly can be driven to perform linear motion. The second connecting shaft 5 ensures the synchronicity of the actions of the two telescopic cylinders 4 and prevents the gripping assembly from tilting.

[0022] The second connecting shaft 5 includes a shaft core 5-1 and a damping sleeve 5-2. The damping sleeve 5-2 is movably sleeved on the outside of the shaft core 5-1. A friction damping structure is provided between the damping sleeve 5-2 and the shaft core 5-1. The rotational resistance of the damping sleeve 5-2 relative to the shaft core 5-1 can be controlled by adjusting the damping coefficient. The gripping component is fixedly installed on the outer circumferential surface of the damping sleeve 5-2 by welding. This friction damping structure can effectively counteract the attitude deviation of the gripping component caused by rotational inertia, ensuring the stability of the plate transfer process.

[0023] The gripping assembly includes a mounting plate 6, crossbeams 7, longitudinal beams 8, a suction cup mounting bracket 9, and a vacuum suction cup 10. The mounting plate 6 has a rectangular plate structure. The top surface of the mounting plate 6 is fixedly connected to the outer surface of the damping sleeve 5-2 by bolts. At least two parallel crossbeams 7 are welded to the bottom surface of the mounting plate 6. The length of the crossbeams 7 is greater than the length of the mounting plate 6, and both ends of the crossbeams 7 extend beyond the width of the mounting plate 6. Several evenly distributed longitudinal beams 8 are vertically installed below the crossbeams 7 by bolts. The longitudinal beams 8 and the crossbeams 7 together form a mesh support structure, providing a stable mounting base for the vacuum suction cup 10.

[0024] Multiple suction cup mounting frames 9 are evenly provided at the bottom of the longitudinal beam 8. The suction cup mounting frames 9 extend vertically downward relative to the longitudinal beam 8, and the vacuum suction cups 10 are located at the lower end of the suction cup mounting frames 9. The suction cup mounting frame 9 includes a fixed frame 9-1 and a movable rod 9-2. The fixed frame 9-1 has a hollow tubular structure, and its upper end is welded and fixed to the longitudinal beam 8. The movable rod 9-2 is slidably installed inside the lower end of the fixed frame 9-1, and a return spring is provided between the movable rod 9-2 and the fixed frame 9-1, so that the movable rod 9-2 can flexibly rise and fall relative to the suction cup mounting frames 9. The vacuum suction cups 10 are installed at the lower end of the movable rod 9-2 by threaded connection. Multiple vacuum suction cups 10 are arranged in a rectangular array. The rising and falling function of the movable rod 9-2 allows the vacuum suction cups 10 to adapt to the unevenness of the board surface, ensuring that each vacuum suction cup 10 can tightly adhere to the board surface and improve the adsorption reliability.

[0025] In this embodiment, the drive motor 3 is a servo motor, which can achieve precise speed adjustment and positioning, ensuring that the rotation angle of the first connecting shaft 2 is controllable; the telescopic cylinder 4 is a double-acting cylinder, which can achieve bidirectional smooth extension and retraction, and has a fast response speed; the vacuum suction cup 10 is made of corrosion-resistant rubber material, which has good sealing performance and adsorption force, and is suitable for metal plates of different materials.

[0026] In use, the first connecting shaft 2 is first driven to rotate by the drive motor 3, and in conjunction with the telescopic cylinder 4, the gripping component is moved to the unloading station above the leveling line, so that the multiple vacuum suction cups 10 are aligned with the board to be unloaded. Then, the vacuum suction cups 10 are activated to fix the board by negative pressure adsorption. At this time, the movable rod 9-2 automatically rises and falls according to the flatness of the board surface to ensure that all the vacuum suction cups 10 are tightly attached to the board. Next, the first connecting shaft 2 is driven to rotate in the opposite direction by the drive motor 3, and the telescopic cylinder 4 adjusts the extension and retraction amount according to the unloading position requirements to move the board to the designated area. Finally, the vacuum suction cups 10 are closed, the board is released, the drive motor 3 and the telescopic cylinder 4 are reset, and one unloading cycle is completed.

[0027] As can be seen from the above technical solution, the advantages of this utility model are as follows: This solution adopts a combination of a base and a rotatable telescopic component, eliminating the need for a large gantry frame, significantly reducing the horizontal floor space and vertical space occupied in the workshop. The overall structure is simple and compact, reducing the difficulty and cost of installation and debugging, and improving the adaptability and flexibility of the equipment in different workshop environments. The support structure of the double bases combined with the first connecting shaft, along with the direct drive transmission method of the servo motor, enhances the stability and load-bearing capacity of the telescopic component during rotation, while also achieving precise speed adjustment and positioning, ensuring strong controllability and high transmission efficiency in the unloading process. The synchronous operation of the two telescopic cylinders, linked by the second connecting shaft, not only provides uniform thrust to prevent gripping deviation but also improves load capacity, while ensuring the stable posture of the gripping component and effectively preventing skewing during transfer. The friction of the second connecting shaft... The damping structure counteracts the attitude deviation caused by rotational inertia. Combined with multiple vacuum suction cups arranged in a rectangular array, it increases the adsorption area and force while ensuring uniform force on the sheet material, preventing detachment, collision, or localized deformation, and significantly improving the accuracy and quality of material feeding. The mesh support design of the crossbeams and longitudinal beams in the gripping assembly expands the installation range of the vacuum suction cups, adapting to the gripping needs of different sheet material specifications. The liftable movable rod structure of the suction cup mounting frame can adapt to the unevenness of the sheet material surface, ensuring that each suction cup fits tightly, further improving the adsorption reliability and the versatility of the equipment. The equipment uses mature components such as cylinders and servo motors, ensuring stable and reliable operation, fast response speed, convenient maintenance, and low cost. It can effectively replace traditional truss-type, robotic, or multi-stage roller-type material feeding equipment, solving the pain points of existing equipment such as large size, high cost, and difficult maintenance, and significantly improving the material feeding efficiency and production benefits of the leveling line.

[0028] The above description of the disclosed embodiments enables those skilled in the art to implement or use this patent. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this patent. Therefore, this patent is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rotary end-grabbing device for slitting lines, comprising a gripping component, characterized in that, It also includes two bases (1), which are used to connect to the base surface of the workshop. A first connecting shaft (2) is rotatably installed between the two bases (1). A drive motor (3) is also installed on one of the bases (1). The output shaft of the drive motor (3) is fixedly connected to the first connecting shaft (2). A telescopic component is provided at each end of the first connecting shaft (2). The first connecting shaft (2) is set horizontally. The telescopic direction of the telescopic component is perpendicular to the first connecting shaft (2). The telescopic end of the telescopic component is set away from the base (1). A second connecting shaft (5) is provided between the telescopic ends of the two telescopic components. The gripping component is set on the second connecting shaft (5).

2. The rotary end-capsulator for a flattened line according to claim 1, characterized in that, The telescopic component is a telescopic cylinder (4). The two telescopic cylinders (4) are arranged in parallel to each other and are perpendicular to the first connecting shaft (2). The cylinder bodies of the two telescopic cylinders (4) are respectively connected to the two ends of the first connecting shaft (2).

3. The rotary end-collector for a flattened line according to claim 2, characterized in that, The second connecting shaft (5) includes a shaft core (5-1), and a damping sleeve (5-2) is sleeved on the outside of the shaft core (5-1). Friction damping is provided between the damping sleeve (5-2) and the shaft core (5-1), and the gripping component is fixedly installed on the outer circumferential surface of the damping sleeve (5-2).

4. The rotary end-collector for a flattened line according to claim 3, characterized in that, The gripping assembly includes a mounting plate (6), the top surface of which is fixedly connected to the outer surface of the damping sleeve (5-2), and the bottom surface of the mounting plate (6) is provided with a plurality of vacuum suction cups (10).

5. The rotary end-collector for a flattened line according to claim 4, characterized in that, The bottom surface of the mounting plate (6) is provided with at least two crossbeams (7), the length of the crossbeams (7) is greater than the length of the mounting plate (6), and both ends of the crossbeams (7) extend beyond the width of the mounting plate (6). Multiple longitudinal beams (8) are installed below the crossbeams (7), and the vacuum suction cup (10) is set on the longitudinal beams (8).

6. The rotary end-capsulator for a flattened line according to claim 5, characterized in that, The bottom of the longitudinal beam (8) is provided with a plurality of suction cup mounting brackets (9), the suction cup mounting brackets (9) extend downward relative to the longitudinal beam (8), and the vacuum suction cup (10) is located at the lower end of the suction cup mounting brackets (9).

7. The rotary end-capsulator for a flattened line according to claim 6, characterized in that, The suction cup mounting bracket (9) includes a fixed bracket (9-1) and a movable rod (9-2). The upper end of the fixed bracket (9-1) is fixedly connected to the longitudinal beam (8). The movable rod (9-2) is installed at the lower end of the fixed bracket (9-1) and can be raised and lowered relative to the suction cup mounting bracket (9). The vacuum suction cup (10) is installed at the lower end of the movable rod (9-2).

8. The rotary end-capsulator for a flattened line according to any one of claims 4-7, characterized in that, Multiple vacuum suction cups (10) are arranged in a rectangular array.

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