A wall panel gripper with a multi-angle rotating gripping head

Abstract

This utility model relates to the field of wall panel gripping machines, and discloses a multi-angle rotating gripping head for wall panel gripping machines. It includes a gantry frame, with a horizontal moving track fixedly connected to the outer wall of the gantry frame. A trolley is mounted on the horizontal moving track, and a vertical moving track is fixedly connected to the trolley via a bracket. An annular groove is formed at the bottom of the vertical moving track, and a protrusion is slidably connected to the inner wall of the annular groove. A support column is fixedly connected to the outer wall of the protrusion, and a U-shaped frame is fixedly connected to the bottom of the support column via a horizontal plate. A second motor is fixedly connected to the outer wall of the U-shaped frame, and a bidirectional lead screw is fixedly connected to the output end of the second motor. In this utility model, a rotary drive assembly, in conjunction with the second motor, drives the bidirectional lead screw to adjust the sliding block spacing. A sleeve and a sliding rod control the lifting and lowering of the pressure plate, providing multi-angle flexible rotation and precise spacing adjustment capabilities, simultaneously completing the adsorption and pressing actions, thus improving the stability and efficiency of wall panel gripping.

Description

Technical Field

[0001] This utility model relates to the field of plate grabbing machines, and in particular to a multi-angle rotating grabbing head for a wall panel grabbing machine. Background Technology

[0002] A wall panel grabber is an automated or semi-automated device specifically designed for grabbing, handling, and stacking wall panels. It is widely used in building materials production workshops, warehousing and logistics facilities, and construction sites to improve the efficiency, safety, and accuracy of wall panel handling while reducing manual labor intensity.

[0003] The gripping mechanism is the core component of the gripper. It is designed according to the material, size, and weight of the wall panel. Common types include mechanical claw type, vacuum suction cup type, and electromagnetic suction cup type. Among them, the vacuum suction cup type uses the negative pressure generated by the vacuum pump to adsorb the wall panel through the suction cup. It is suitable for smooth and lightweight panels, such as gypsum board. The gripper is usually equipped with a moving mechanism to enable the equipment to move freely. Common types include track type, tire type, and crawler type. The track type moving mechanism can travel along a fixed track and is suitable for handling materials along fixed routes in the workshop.

[0004] In existing technologies, the gripping head uses vacuum adsorption to grasp wall panels during transport. However, the gripping head is usually in a fixed position and can only move along a predetermined trajectory, which cannot adapt to wall panels of different sizes. Furthermore, the orientation of the wall panels cannot be adjusted to meet different placement needs, resulting in reduced work efficiency. To address these issues, a wall panel gripping machine with a multi-angle rotating gripping head is proposed. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a multi-angle rotating gripping head for a wall panel gripping machine, which aims to improve the problems of existing wall panel gripping machines' multi-angle rotating gripping heads being unable to adapt to wall panels of different sizes and being unable to adjust the orientation to adapt to different placement needs when placing wall panels.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: a multi-angle rotating gripping head for a wall panel gripping machine, comprising a gantry frame, a transverse moving track fixedly connected to the outer wall of the gantry frame, a trolley mounted on the transverse moving track, a vertical moving track fixedly connected to the trolley via a bracket, an annular groove formed at the bottom of the vertical moving track, a protrusion slidably connected to the inner wall of the annular groove, a support column fixedly connected to the outer wall of the protrusion, a U-shaped frame fixedly connected to the bottom of the support column via a horizontal plate, and a second motor fixedly connected to the outer wall of the U-shaped frame. The output end of motor two is fixedly connected to a bidirectional lead screw. The outer wall of the bidirectional lead screw is threadedly connected to a slide block via a nut. The outer wall of the slide block is fixedly connected to a sleeve. The inner wall of the sleeve is slidably connected to a slide rod. The bottom end of the slide rod is fixedly connected to a pressure plate. The outer wall of the slide block is fixedly connected to a mounting plate. The top of the mounting plate is fixedly connected to a mounting bracket. The inner surface of the mounting bracket is fixedly connected to a vacuum pump. The output end of the vacuum pump is fixedly connected to a vacuum suction cup via a hose. The bottom of the mounting plate is fixedly connected to a cylinder. The top of the loop frame is equipped with a rotary drive assembly.

[0007] As a further description of the above technical solution:

[0008] The outer wall of the slide block is adapted to the inner wall of the spiral frame, and the slide rod passes through the sleeve.

[0009] As a further description of the above technical solution:

[0010] The outer wall of the sleeve is slidably connected to the outer wall of the spiral frame, and the output end of the cylinder is fixedly connected to the top of the vacuum suction cup.

[0011] As a further description of the above technical solution:

[0012] The rotary drive assembly includes a fixed plate, a motor is fixedly connected to the top of the fixed plate, a drive wheel is fixedly connected to the output end of the motor via a rotating shaft, and a driven wheel is fixedly connected to the outer wall of the support column.

[0013] As a further description of the above technical solution:

[0014] The outer wall of the fixed plate is fixedly connected to the outer wall of the vertical moving track, and the driven wheel meshes with the driving wheel.

[0015] As a further description of the above technical solution:

[0016] A spring is fixedly connected to the bottom of the sleeve, a magnetic suction plate is fixedly connected to the bottom of the slide, a magnetic suction plate is fixedly connected to the top of the pressure plate, an installation groove is provided at the bottom of the pressure plate, a pressure sensor is fixedly connected to the top of the pressure plate, a sensing probe is fixedly connected to the bottom of the pressure sensor, and a protective frame is fixedly connected to the top of the pressure plate.

[0017] As a further description of the above technical solution:

[0018] The spring is sleeved on the outer wall of the slide bar, and the bottom end of the spring is fixedly connected to the top of the pressure plate.

[0019] As a further description of the above technical solution:

[0020] The sensing probe is located inside the mounting slot.

[0021] This utility model has the following beneficial effects:

[0022] 1. In this utility model, the first motor of the rotary drive assembly drives the active wheel and the driven wheel to mesh, thereby driving the support column and the return frame to rotate horizontally. The second motor drives the bidirectional screw to adjust the distance between the slide blocks. The sleeve and the slide rod control the lifting and lowering of the pressure plate. The cylinders on the two sets of mounting plates work together with the vacuum suction cup to perform gripping. The pressure plate achieves pressing, providing multi-angle flexible rotation and precise distance adjustment capabilities, and simultaneously completing the adsorption and pressing actions, thereby improving the stability of wall panel gripping and the efficiency of operation.

[0023] 2. In this utility model, a buffer system is formed by setting up a spring and a mutually repelling electromagnet, and a pressure sensor monitors the clamping force in real time. The spring provides initial buffering, the electromagnet actively adjusts the pressure plate pressure to avoid overload, and the pressure sensor accurately feeds back the contact state, forming a triple protection mechanism that absorbs impact and adaptively adjusts the clamping force, thereby improving the stability of the gripping process and the service life of the equipment. Attached Figure Description

[0024] Figure 1 This is a side view of the main structure of the multi-angle rotating gripping head of the wall panel gripping machine proposed in this utility model;

[0025] Figure 2 This is a partially exploded cross-sectional view of the multi-angle rotating gripping head of a wall panel gripping machine proposed in this utility model.

[0026] Figure 3 This is a top view schematic diagram of the spiral frame structure of the multi-angle rotating gripping head of the wall panel gripping machine proposed in this utility model;

[0027] Figure 4 This is a bottom view schematic diagram of the spiral frame structure of the multi-angle rotating gripping head of the wall panel gripping machine proposed in this utility model.

[0028] Legend:

[0029] 1. Gantry frame; 2. Lateral moving track; 3. Carriage; 4. Vertical moving track; 5. Annular groove; 6. Support column; 7. Protrusion; 8. Fixing plate; 9. Motor 1; 10. Drive wheel; 11. Driven wheel; 12. Mounting plate; 13. Reverse frame; 14. Motor 2; 15. Double-acting lead screw; 16. Slide block; 17. Sleeve; 18. Slide rod; 19. Pressure plate; 20. Mounting frame; 21. Vacuum pump; 22. Cylinder; 23. Vacuum suction cup; 24. Spring; 25. Magnetic suction plate 1; 26. Magnetic suction plate 2; 27. Mounting groove; 28. Pressure sensor; 29. ​​Sensing probe; 30. Protective frame. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] Reference Figures 1-3This utility model provides an embodiment of a wall panel gripping machine with a multi-angle rotating gripping head, including a gantry frame 1. A horizontal moving track 2 is fixedly connected to the outer wall of the gantry frame 1. A trolley 3 is provided on the horizontal moving track 2. The trolley 3 is fixedly connected to a vertical moving track 4 via a bracket. The trolley 3 is the core component connecting the horizontal moving track 2 and the vertical moving track 4. Its bottom is slidably connected to the guide rail of the horizontal moving track 2 via a slider or roller, and its top is fixed to the body of the vertical moving track 4 via a rigid bracket. The structure of connecting the horizontal track below and supporting the vertical track above makes the vertical moving track 4 the load module of the trolley 3. When the trolley 3 moves along the horizontal... When the vertical moving track 4 moves horizontally to the moving track 2, it will synchronously complete the horizontal displacement with the sports car 3. When the vertical moving track 4 activates the lifting function, it will move vertically relative to the sports car 3. At this time, the sports car 3 acts as a fixed base, providing stable support for the vertical lifting. The bottom of the vertical moving track 4 is provided with an annular groove 5. The inner wall of the annular groove 5 is slidably connected with a protrusion 7. The outer wall of the protrusion 7 is fixedly connected with a support column 6. The bottom of the support column 6 is fixedly connected with a cross plate to a U-shaped frame 13. The outer wall of the U-shaped frame 13 is fixedly connected with a motor 14. The output end of the motor 14 is fixedly connected with a double-acting screw 15. The outer wall of the frame 13 is connected to a slide block 16 via a nut thread. Two sets of slide blocks 16 are provided. The surface of the frame 13 has slots that match the slide blocks 16, limiting the movement of the slide blocks 16 when the bidirectional screw 15 rotates. The outer wall of the slide block 16 is adapted to the inner wall of the frame 13. A sleeve 17 is fixedly connected to the outer wall of the slide block 16, and the outer wall of the sleeve 17 is slidably connected to the outer wall of the frame 13. A slide rod 18 is slidably connected to the inner wall of the sleeve 17, passing through the sleeve 17. A pressure plate 19 is fixedly connected to the bottom end of the slide rod 18. A mounting plate 12 is fixedly connected to the outer wall of the slide block 16. Two sets of mounting plates 12 and two sets of pressure plates 19 are provided. The top of each pressure plate 19 is connected to the slide block 16 via two symmetrically distributed sleeves 17 and slide rods 18. The bottom of each mounting plate 12 has two sets of cylinders 22 and vacuum suction cups 23 distributed at equal intervals. Each set of vacuum suction cups 23 is connected to a set of vacuum pumps 21. The two sets of mounting plates 12 and the two sets of pressure plates 19 are located alternately at the bottom of the U-shaped frame 13. The top of the mounting plate 12 is fixedly connected to the mounting frame 20. The inner surface of the mounting frame 20 is fixedly connected to the vacuum pump 21. The output end of the vacuum pump 21 is fixedly connected to the vacuum suction cup 23 via a hose. The bottom of the mounting plate 12 is fixedly connected to the cylinder 22. The output end of the cylinder 22 is fixedly connected to the top of the vacuum suction cup 23.

[0032] Reference Figures 2-3The top of the frame 13 is provided with a rotary drive assembly, which includes a fixed plate 8, a motor 9, a drive wheel 10 and a driven wheel 11. The drive wheel 10 and the driven wheel 11 are configured as gears. The outer wall of the fixed plate 8 is fixedly connected to the outer wall of the vertical moving track 4. The top of the fixed plate 8 is fixedly connected to the motor 9. The output end of the motor 9 is fixedly connected to the drive wheel 10 through a rotating shaft. The outer wall of the support column 6 is fixedly connected to the driven wheel 11, which meshes with the drive wheel 10.

[0033] Reference Figures 3-4 A spring 24 is fixedly connected to the bottom of the sleeve 17. The spring 24 is sleeved on the outer wall of the slide rod 18. The bottom end of the spring 24 is fixedly connected to the top of the pressure plate 19. A magnetic suction plate 25 is fixedly connected to the bottom of the slide block 16, and a magnetic suction plate 26 is fixedly connected to the top of the pressure plate 19. The magnetic suction plates 25 and 26 are electromagnets, and the magnetic force generated by them after being energized is a repulsive magnetic force. A controller (not shown in the figure) is set on the ring frame 13 to receive the signal from the pressure sensor 28 and dynamically adjust the electromagnet current. The bottom of the pressure plate 19... An installation slot 27 is provided. A pressure sensor 28 is fixedly connected to the top of the pressure plate 19, and a sensing probe 29 is fixedly connected to the bottom of the pressure sensor 28. The sensing probe 29 is located inside the installation slot 27. A protective frame 30 is fixedly connected to the top of the pressure plate 19. The protective frame 30 is in the shape of an inverted L and covers the top of the pressure sensor 28 to prevent the U-shaped frame 13 from contacting the pressure sensor 28. The end of the sensing probe 29 is five millimeters lower than the bottom surface of the pressure plate 19 to ensure that the probe first contacts the wall panel to trigger the signal, and then triggers the pressing action of the pressure plate 19.

[0034] Working principle: The horizontal moving track 2 drives the trolley 3 to be positioned horizontally, while the vertical moving track 4 drives the support column 6 and the lower mechanism to descend vertically. When the pressure plate 19 contacts the wall panel surface, the pressure sensor 28 detects the pressure value through the sensing probe 29. At the same time, the spring 24 buffers the contact impact. The bidirectional lead screw 15 is driven by the second motor 14, adjusting the distance between the two sets of sliding blocks 16 in the slot of the retaining frame 13, thereby changing the alternating distribution position of the two sets of mounting plates 12 and the two sets of pressure plates 19 to adapt to the center of gravity of the gripping of wall panels of different sizes. The second magnetic suction plate 26 is energized to generate a magnetic force that repels the first magnetic suction plate 25, pushing the pressure plate 19 to increase the downward pressure and ensure... When the wall panel is pressed, the vacuum pump 21 starts, causing the vacuum suction cup 23 to adhere to the surface of the wall panel. At the same time, the cylinder 22 pushes the vacuum suction cup 23 to finely adjust the contact angle, improving the adhesion stability. After the gripping is completed, the vertical moving track 4 lifts the retractable frame 13 and the wall panel. When the wall panel needs to be rotated, the motor 9 drives the drive wheel 10 to mesh with the driven wheel 11, driving the support column 6 to rotate along the annular groove 5 through the protrusion 7, so that the retractable frame 13 and the wall panel can be adjusted at multiple angles. When the wall panel is released, the vacuum pump 21 releases the vacuum adhesion, the magnetic suction plate 26 is de-energized, the spring 24 resets and retracts the pressure plate 19, and the protective frame 30 protects the pressure sensor 28 from collisions throughout the process.

[0035] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A multi-angle rotating gripping head for a wall panel gripping machine, comprising a gantry frame (1), wherein a transverse moving track (2) is fixedly connected to the outer wall of the gantry frame (1), a trolley (3) is provided on the transverse moving track (2), and the trolley (3) is fixedly connected to a vertical moving track (4) via a bracket, characterized in that: The bottom of the vertical moving track (4) is provided with an annular groove (5). A protrusion (7) is slidably connected to the inner wall of the annular groove (5). A support column (6) is fixedly connected to the outer wall of the protrusion (7). A loop frame (13) is fixedly connected to the bottom of the support column (6) through a horizontal plate. A second motor (14) is fixedly connected to the outer wall of the loop frame (13). A double-acting screw (15) is fixedly connected to the output end of the second motor (14). A slide block (16) is threadedly connected to the outer wall of the double-acting screw (15) through a nut. A sleeve (17) is fixedly connected to the outer wall of the slide block (16). The inner wall of the sleeve (17) is slidably connected to a slide rod (18), the bottom end of the slide rod (18) is fixedly connected to a pressure plate (19), the outer wall of the slide block (16) is fixedly connected to a mounting plate (12), the top of the mounting plate (12) is fixedly connected to a mounting bracket (20), the inner surface of the mounting bracket (20) is fixedly connected to a vacuum pump (21), the output end of the vacuum pump (21) is fixedly connected to a vacuum suction cup (23) through a hose, the bottom of the mounting plate (12) is fixedly connected to a cylinder (22), and the top of the loop frame (13) is provided with a rotary drive assembly.

2. The multi-angle rotating gripper head of a wallboard grabber according to claim 1, wherein: The outer wall of the slide block (16) is adapted to the inner wall of the spiral frame (13), and the slide rod (18) passes through the sleeve (17).

3. The multi-angle rotating gripper head of a wallboard grabber according to claim 1, wherein: The outer wall of the sleeve (17) is slidably connected to the outer wall of the spiral frame (13), and the output end of the cylinder (22) is fixedly connected to the top end of the vacuum suction cup (23).

4. The multi-angle rotating gripper head of a wallboard grabber according to claim 1, wherein: The rotary drive assembly includes a fixed plate (8), a motor (9) is fixedly connected to the top of the fixed plate (8), the output end of the motor (9) is fixedly connected to a drive wheel (10) via a rotating shaft, and a driven wheel (11) is fixedly connected to the outer wall of the support column (6).

5. A multi-angle rotating gripper head of a wallboard grabber according to claim 4, characterized in that: The outer wall of the fixed plate (8) is fixedly connected to the outer wall of the vertical moving track (4), and the driven wheel (11) meshes with the driving wheel (10).

6. The multi-angle rotating gripper head of a wallboard grabber according to claim 1, wherein: A spring (24) is fixedly connected to the bottom of the sleeve (17), a magnetic suction plate (25) is fixedly connected to the bottom of the slide (16), a magnetic suction plate (26) is fixedly connected to the top of the pressure plate (19), an installation groove (27) is provided at the bottom of the pressure plate (19), a pressure sensor (28) is fixedly connected to the top of the pressure plate (19), a sensing probe (29) is fixedly connected to the bottom of the pressure sensor (28), and a protective frame (30) is fixedly connected to the top of the pressure plate (19).

7. A multi-angle rotating gripper head of a wallboard grabber according to claim 6, characterized in that: The spring (24) is sleeved on the outer wall of the slide bar (18), and the bottom end of the spring (24) is fixedly connected to the top of the pressure plate (19).

8. The multi-angle rotating gripper head of a wallboard grabber according to claim 6, wherein: The sensing probe (29) is located inside the mounting slot (27).

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