A sheet material handling device

Abstract

The utility model discloses a plate carrying device, including the track base of first direction extension, the frame body of second direction extension, drive the drive mechanism of frame body reciprocating movement along the first direction, install the carrying mechanism on frame body, be equipped with two parallelly arranged first linear track on track base, the frame body bottom is equipped with the first linear track sliding fit's first sliding block, the carrying mechanism includes the cantilever assembly of frame body swing joint and sets up the adsorption subassembly for grabbing and releasing plate in cantilever assembly far end, cantilever assembly has two degrees of freedom in the second direction displaceable, rotatable in horizontal plane, the second direction with first direction is perpendicular. The stability of the existing plate carrying robot is not good, the problem of difficult installation and debugging, the poor flexibility is solved.

Description

Technical Field

[0001] This utility model relates to the field of material handling equipment technology, and in particular to a sheet metal handling device. Background Technology

[0002] In the processing of sheet materials, large-sized, thin finished products and semi-finished products must be stacked neatly to facilitate the next processing step. Manual handling and unloading for stacking not only consumes significant labor costs but also easily causes deformation and damage to the sheets. Furthermore, manual stacking is difficult for sheets with large volume and weight. To address these issues, a handling robot has emerged on the market. This robot has suction cups at its actuator and is mounted on a transfer rack with vertically arranged single tracks. However, because the robot moves linearly along these single tracks, its stability during transport is poor. Moreover, the upper single track is fixed to a matching shelf, resulting in limited robot flexibility and difficulties in installation and debugging. Utility Model Content

[0003] To address the shortcomings of the existing technology, this utility model provides a sheet metal handling device to solve the problems of poor stability, difficult installation and debugging, and poor flexibility of existing handling robots.

[0004] This utility model is achieved using the following technical solution:

[0005] A sheet material handling device includes a track base extending along a first direction, a frame extending along a second direction, a drive mechanism for reciprocating the frame along the first direction, and a handling mechanism mounted on the frame. The track base is provided with two parallel first linear tracks, and the bottom of the frame is provided with a first slider that slides in cooperation with the first linear tracks. The handling mechanism includes a cantilever assembly movably connected to the frame and an adsorption assembly disposed at the distal end of the cantilever assembly for gripping and releasing the sheet material. The cantilever assembly has two degrees of freedom: displacement in the second direction and rotation in the horizontal plane. The second direction is perpendicular to the first direction.

[0006] Furthermore, the track base is provided with a first rack extending in a first direction, the drive mechanism is mounted on the frame and its output end is provided with a first gear, the first gear meshing with the first rack.

[0007] Furthermore, the cantilever assembly includes a slide block that slides with the frame, a lifting drive unit that drives the slide block to rise and fall in a second direction, a first rotation drive unit mounted on the slide block, and a transverse arm connected to the output end of the first rotation drive unit. The first rotation drive unit is used to drive the transverse arm to rotate in a horizontal plane. The transverse arm is parallel to the track base, and the adsorption assembly is mounted at the distal end of the transverse arm.

[0008] Furthermore, the frame is provided with a second linear track extending along a second direction, and the slide is provided with a second slider that slides in cooperation with the second linear track.

[0009] Furthermore, the frame is provided with a second rack extending in the second direction, and the output end of the lifting drive unit is provided with a second gear that meshes with the second rack.

[0010] Furthermore, the adsorption assembly includes an adsorption frame and a suction cup unit disposed at the bottom of the adsorption frame. The suction cup unit includes a sponge suction cup and a negative pressure system connected to the sponge suction cup. The sponge suction cup is plate-shaped and extends along a first direction.

[0011] Furthermore, the negative pressure system includes an air source processor and an air tank. The output end of the air tank is connected to the input end of the air source processor. The sponge suction cup is provided with an air port, and the output end of the air source processor is connected to the air port.

[0012] Furthermore, the conveying mechanism also includes a second rotary drive unit disposed at the distal end of the cantilever assembly and used to control the suction frame to rotate in the horizontal plane.

[0013] Furthermore, it also includes an oil pump and an oil pipe, with the first slider connected to the oil pump via the oil pipe.

[0014] Furthermore, a drag chain groove is provided on one side of the track base, and a drag chain connected to the frame is provided in the drag chain groove.

[0015] Compared with the prior art, the beneficial effects of this utility model include at least the following:

[0016] The track base of this invention is installed in the aisle between shelves. The first direction refers to the extension direction of the shelf. A drive mechanism moves the frame along the track base, enabling the handling mechanism to move along the first direction. The cantilever assembly has two degrees of freedom: displacement in the second direction and rotation in the horizontal plane. The second direction is perpendicular to the first direction, meaning the adsorption assembly can achieve lifting and lowering along the second direction and rotation in the horizontal plane under the drive of the cantilever assembly, thus adsorbing and releasing materials between shelves. Two parallel linear tracks support the frame's sliding motion on the track base, ensuring the stability of the frame's movement. This design adapts to the material handling needs of different shelves and is easy to install and debug. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a sheet metal handling device according to an embodiment of the present invention;

[0018] Figure 2 yes Figure 1 Front view of the structure;

[0019] Figure 3 yes Figure 1 Top view of the structure;

[0020] Figure 4 yes Figure 1 Left view of the structure;

[0021] In the diagram: 1. Track base; 11. First linear track; 12. First rack; 2. Frame; 21. First slider; 22. Second linear track; 23. Second rack; 24. Drive mechanism; 25. First gear; 3. Transport mechanism; 30. Slide; 31. Lifting drive unit; 32. First rotary drive unit; 33. Horizontal arm; 34. Adsorption rack; 35. Sponge suction cup; 36. Second rotary drive unit; 37. Air source processor; 38. Air tank; 4. Oil pump; 5. Cable chain. Detailed Implementation

[0022] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided to make the present invention more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore repeated descriptions of them will be omitted.

[0023] The terms used to describe position and direction in this utility model are illustrated with the accompanying drawings, but changes can be made as needed, and all such changes are included within the scope of protection of this utility model.

[0024] like Figures 1 to 4 As shown, this utility model provides a sheet material handling device, including a track base 1 extending along a first direction, a frame 2 extending along a second direction, a drive mechanism 24 driving the frame 2 to reciprocate along the first direction, and a handling mechanism 3 mounted on the frame 2. The track base 1 is provided with two parallel first linear tracks 11, and the bottom of the frame 2 is provided with a first slider 21 that slides with the first linear tracks 11. The handling mechanism 3 includes a cantilever assembly movably connected to the frame 2 and an adsorption assembly disposed at the far end of the cantilever assembly for gripping and releasing the sheet material. The cantilever assembly has two degrees of freedom: displacement in the second direction and rotation in the horizontal plane. The second direction is perpendicular to the first direction.

[0025] In this embodiment, the track base 1 is installed in the passage between each shelf. The first direction refers to the extension direction of the shelf. The drive mechanism 24 drives the frame 2 to move on the track base 1, realizing the movement of the handling mechanism 3 along the first direction. The cantilever assembly has two degrees of freedom: displacement in the second direction and rotation in the horizontal plane. The second direction is perpendicular to the first direction, that is, the adsorption assembly can realize lifting and lowering movement along the second direction and horizontal rotation movement under the drive of the cantilever assembly, realizing the adsorption and release of the board between the shelves. By installing the first linear track 11 of the supporting frame 2 at the bottom position of the shelf (i.e., the ground position), the two first linear tracks 11 installed at the bottom directly bear the weight load of the handling mechanism 3. The track base 1 is pressed tightly against the ground or foundation, forming a solid support. Since the first linear track 11 is located at the bottom, the center of gravity of the entire system is low, which greatly reduces the vibration amplitude and swaying tendency generated when the handling mechanism 3 runs at high speed or changes in load, resulting in higher stability. Compared with the traditional top track, the installation of the top track requires a sufficiently rigid top support frame or ceiling structure, which usually requires a large and sturdy steel structure beam, which is costly. Additional columns and braces are needed to resist lateral and torsional forces generated by robot movement, as well as the weight of the robot and track; ceiling or roof structures may require specialized reinforcement. Track base 1 is typically mounted directly on reinforced ground, concrete foundations, or low, sturdy frames. Therefore, constructing track base 1 is generally less expensive and simpler than building an elevated structure capable of bearing suspended loads and dynamic lateral forces. Furthermore, ground-mounted track base 1 is easier to level and align, and construction personnel can operate more safely and conveniently (no need for working at heights). Cleaning, lubricating, wear inspection, and component replacement of the track are easier to perform on the ground, and maintenance personnel can operate safely from the ground without the need for lifting platforms or aerial work platforms, facilitating installation and commissioning. When the first linear track 11 or drive assembly fails, access and repair from below are usually more direct. The bottom track completely frees up the space above, without suspended tracks and support beams obstructing the view, resulting in better space utilization and layout flexibility.

[0026] In a preferred embodiment, the track base 1 is provided with a first rack 12 extending in a first direction, the drive mechanism 24 is mounted on the frame 2 and its output end is provided with a first gear 25, the first gear 25 being meshed with the first rack 12.

[0027] In this embodiment, the first gear 25 is driven to rotate by the drive mechanism 24. Since the first gear 25 meshes with the first rack 12, according to the transmission principle of gear and rack, the rotation of the gear is converted into relative linear motion between the gear and the rack. Since the first rack 12 is fixed on the track base 1, this relative linear motion manifests as the frame 2 moving linearly along the first direction where the first rack 12 is located, thereby realizing the reciprocating movement of the frame 2 along the first direction. Specifically, the drive mechanism 24 is preferably a motor.

[0028] In a preferred embodiment, the cantilever assembly includes a slide block 30 that slides with the frame 2, a lifting drive unit 31 that drives the slide block 30 to rise and fall in a second direction, a first rotation drive unit 32 mounted on the slide block 30, and a transverse arm 33 connected to the output end of the first rotation drive unit 32. The first rotation drive unit 32 is used to drive the transverse arm 33 to rotate in a horizontal plane. The transverse arm 33 is parallel to the track base 1, and the adsorption assembly is mounted at the distal end of the transverse arm 33.

[0029] In this embodiment, after the drive mechanism 24 moves the frame 2 to the designated position, the first rotary drive unit 32 drives the horizontal arm 33 to rotate, so that the adsorption component moves into the corresponding shelf. Then, the lifting drive unit 31 drives the slide 30 to descend, so that the adsorption component adsorbs the board. Then, the lifting drive unit 31 drives the slide 30 to move upward, and the first rotary drive unit 32 drives the horizontal arm 33 to rotate out of the shelf. Then, the drive mechanism 24 drives the frame 2 to move to the board placement position, and the adsorption component lowers the board to the designated board placement position to realize the handling of the board.

[0030] In a preferred embodiment, the frame 2 is provided with a second linear track 22 extending along a second direction, and the slide block 30 is provided with a second slider that slides in cooperation with the second linear track 22.

[0031] In this embodiment, the slide block 30 slides in conjunction with the second linear track 22 via the second slider, ensuring the stability and smoothness of the slide block 30 moving along the second direction.

[0032] In a preferred embodiment, the frame 2 is provided with a second rack 23 extending in a second direction, and the output end of the lifting drive unit 31 is provided with a second gear that meshes with the second rack 23.

[0033] In this embodiment, the lifting drive unit 31 drives the second gear to rotate. Since the second gear meshes with the second rack 23, according to the transmission principle of gear and rack, the rotation of the gear is converted into relative linear motion between the gear and rack. Since the second rack 23 is fixed on the frame 2, this relative linear motion manifests as the lifting drive unit 31 moving linearly along the second direction where the second rack 23 is located, thereby realizing the lifting and lowering of the slide 30. Specifically, the lifting drive unit 31 is preferably a motor.

[0034] In a preferred embodiment, the adsorption assembly includes an adsorption frame 34 and a suction cup unit disposed at the bottom of the adsorption frame 34. The suction cup unit includes a sponge suction cup 35 and a negative pressure system connected to the sponge suction cup 35. The sponge suction cup 35 is plate-shaped and extends along a first direction. By adsorbing the workpiece using the sponge suction cup 35, due to the good flexibility of the sponge suction cup 35, when it contacts an uneven surface of the workpiece, the sponge suction cup 35 will automatically indent to adapt to the uneven shape of the workpiece surface, achieving efficient adsorption of the workpiece.

[0035] In a preferred embodiment, the negative pressure system includes an air source processor 37, an air tank 38, and a cylinder. The output end of the air tank 38 is connected to the input end of the air source processor 37. The sponge suction cup 35 is provided with an air port, and the output end of the air source processor 37 is connected to the air port.

[0036] In this embodiment, the compressed air stored in the air tank 38 is delivered to the air source processor 37 for processing. The clean and stable compressed air processed by the air source processor 37 then enters the sponge suction cup 35 through the air inlet, causing the sponge suction cup 35 to generate suction force, thereby adsorbing the board material. The air tank 38 can ensure a stable air pressure output, and the air source processor 37 can provide a stable supply of compressed air.

[0037] In a preferred embodiment, the conveying mechanism 3 further includes a second rotation drive unit 36 ​​disposed at the distal end of the cantilever assembly and used to control the suction frame 34 to rotate in the horizontal plane.

[0038] In this embodiment, the second rotary drive unit 36 ​​drives the adsorption frame 34 to rotate in the horizontal plane, thereby automatically adjusting the angle of the adsorption frame 34 relative to the board material, which facilitates the accurate adsorption of the board material by the sponge suction cup 35. Specifically, the second rotary drive unit 36 ​​is preferably a motor, and the output end of the motor is connected to the adsorption frame 34.

[0039] In a preferred embodiment, the system further includes an oil pump 4 and an oil pipe, with the first slider 21 connected to the oil pump 4 via the oil pipe. The oil pump 4 is connected to the first slider 21 via the oil pipe to supply oil to the first slider 21. The first slider 21 slides on the first linear track 11 to lubricate the first linear track 11, thereby improving the smoothness of the frame 2's movement.

[0040] In a preferred embodiment, a drag chain groove is provided on one side of the track base 1, and a drag chain 5 connected to the frame 2 is provided in the drag chain groove.

[0041] In this embodiment, the cable chain groove is used to guide and protect the cable chain 5, enabling it to move along a predetermined path. The cable chain 5 can guide the movement of the frame 2, and at the same time, it can orderly store and guide the pipelines, preventing them from becoming tangled, worn, or otherwise damaged.

[0042] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and alterations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention, and all such changes should fall within the protection scope of the claims of the present invention.

Claims

1. A sheet material handling device characterized by, The device includes a track base (1) extending along a first direction, a frame (2) extending along a second direction, a drive mechanism (24) for driving the frame (2) to reciprocate along the first direction, and a transport mechanism (3) mounted on the frame (2). The track base (1) is provided with two parallel first linear tracks (11), and the bottom of the frame (2) is provided with a first slider (21) that slides with the first linear tracks (11). The transport mechanism (3) includes a cantilever assembly movably connected to the frame (2) and an adsorption assembly disposed at the far end of the cantilever assembly for gripping and releasing the plate. The cantilever assembly has two degrees of freedom: displacement in the second direction and rotation in the horizontal plane. The second direction is perpendicular to the first direction.

2. The sheet material handling device of claim 1, wherein, The track base (1) is provided with a first rack (12) extending in a first direction, the drive mechanism (24) is mounted on the frame (2) and its output end is provided with a first gear (25), the first gear (25) meshing with the first rack (12).

3. The sheet handling device of claim 1, wherein The cantilever assembly includes a slide (30) that slides with the frame (2), a lifting drive unit (31) that drives the slide (30) to rise and fall in a second direction, a first rotation drive unit (32) mounted on the slide (30), and a transverse arm (33) connected to the output end of the first rotation drive unit (32). The first rotation drive unit (32) is used to drive the transverse arm (33) to rotate in a horizontal plane. The transverse arm (33) is parallel to the track base (1), and the adsorption assembly is mounted at the far end of the transverse arm (33).

4. The sheet handling device of claim 3, wherein The frame (2) is provided with a second linear track (22) extending along a second direction, and the slide (30) is provided with a second slider that slides in cooperation with the second linear track (22).

5. The sheet handling apparatus of claim 3, wherein The frame (2) is provided with a second rack (23) extending in the second direction, and the output end of the lifting drive unit (31) is provided with a second gear that meshes with the second rack (23).

6. The sheet handling device of claim 1, wherein The adsorption assembly includes an adsorption frame (34) and a suction cup unit disposed at the bottom of the adsorption frame (34). The suction cup unit includes a sponge suction cup (35) and a negative pressure system connected to the sponge suction cup (35). The sponge suction cup (35) is plate-shaped and extends along a first direction.

7. The sheet handling apparatus of claim 6, wherein The negative pressure system includes an air source processor (37) and an air tank (38). The output end of the air tank (38) is connected to the input end of the air source processor (37). The sponge suction cup (35) is provided with an air port, and the output end of the air source processor (37) is connected to the air port.

8. The sheet handling device of claim 6, wherein The conveying mechanism (3) further includes a second rotary drive unit (36) disposed at the far end of the cantilever assembly and used to control the suction rack (34) to rotate in the horizontal plane.

9. The sheet metal handling device according to claim 1, characterized in that, It also includes an oil pump (4) and an oil pipe, and the first slider (21) is connected to the oil pump (4) through the oil pipe.

10. The sheet material handling device of claim 1, wherein, The track base (1) has a drag chain groove arranged parallel to it on one side, and a drag chain (5) connected to the frame (2) is provided in the drag chain groove.

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