A disassembling robot and a disassembling machine

Abstract

The utility model relates to the technical field of disassembling and chopping machine, especially a disassembling and chopping mechanical hand, including taking and placing drive mechanism, the mounting frame of taking and placing end is equipped with taking and placing drive mechanism, the fixed suction material subassembly of being equipped with the mounting frame and setting in the mounting frame suck down the material device, suck down the material device includes the lifting drive that is equipped with the mounting frame, the buffer structure of setting in the lifting end of lifting drive and the movable suction material subassembly that is equipped with buffer structure, movable suction material subassembly is located in the side of fixed suction material subassembly, and movable suction material subassembly and fixed suction material subassembly are arranged in parallel. Still provide a kind of disassembling and chopping machine with disassembling and chopping mechanical hand. The utility model not only can realize to the disassembling and chopping of flat stacking material, can also disassemble and chop the stacking material with drooping problem, good universality, strong practicality, and simple structure, low in cost.

Description

Technical Field

[0001] This utility model relates to the field of disassembly and chopping machine technology, and in particular to a disassembly and chopping robot and a disassembly and chopping machine. Background Technology

[0002] In product manufacturing, stacking and disassembling are often necessary. For example, in circuit board production, circuit boards need to be stacked. To prevent adjacent boards from contacting or abrading each other, spacers are usually placed between them. When secondary processing is required, the stacked circuit boards need to be disassembled. Since different circuit boards have different sizes, but the spacers are generally fixed in size, the spacers may be larger than the circuit boards, causing the stacked spacers to sag. Existing disassembly robots (such as the disassembly device disclosed in Chinese patent application number 202420446249.4) cannot reliably pick up or effectively pick up the sagging portion of the spacers. Therefore, the drawbacks are significant, and a solution is urgently needed. Utility Model Content

[0003] In order to solve the above-mentioned technical problems, the purpose of this utility model is to provide a disassembly and chopping robot and a disassembly and chopping machine.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A disassembly and chopping robot includes a pick-and-place drive mechanism, a mounting frame installed on the pick-and-place end of the pick-and-place drive mechanism, a fixed suction component installed on the mounting frame, and a suction and hanging device installed on the mounting frame. The suction and hanging device includes a lifting driver installed on the mounting frame, a buffer structure installed on the lifting end of the lifting driver, and a movable suction component installed on the buffer structure. The movable suction component is located on one side of the fixed suction component and is arranged parallel to the fixed suction component.

[0005] Furthermore, the lifting drive includes a lifting cylinder mounted on the mounting frame and a lifting plate mounted on the lifting cylinder, with a buffer structure mounted on the lifting plate.

[0006] Furthermore, there are two suction-drop devices, which are located on both sides of the fixed suction assembly.

[0007] Furthermore, the fixed suction assembly includes a fixed crossbar mounted on the mounting frame and a plurality of fixed suction cups arranged in a straight line on the fixed crossbar.

[0008] Furthermore, the buffer structure includes a guide seat installed on the lifting end of the lifting drive, a guide rod that slides through the guide seat, a limiting plate installed on the top of the guide rod, a connecting plate installed on the bottom of the guide rod, and an elastic member elastically disposed between the guide seat and the connecting plate. The limiting plate is located above the guide seat and is used to abut against the top surface of the guide seat. The movable suction assembly is installed on the connecting plate.

[0009] Furthermore, the elastic element is a spring, which is sleeved outside the guide rod, and the two ends of the spring elastically abut against the bottom surface of the guide seat and the top surface of the connecting plate, respectively.

[0010] Furthermore, the movable suction assembly includes a movable crossbar mounted on the buffer end of the buffer structure and multiple movable suction cups arranged in a straight line on the movable crossbar.

[0011] Furthermore, the movable suction assembly also includes a vibrating suction cup mounted on the movable crossbar.

[0012] Furthermore, the movable suction assembly also includes a proximity switch mounted on the movable crossbar, which is electrically connected to the lifting drive.

[0013] This utility model also provides a disassembly and chopping machine, including a stacking mechanism, a paper-separating and recycling mechanism, a conveying mechanism, a moving drive mechanism, a disassembly robot, and the aforementioned disassembly and chopping robot. The paper-separating and recycling mechanism and the conveying mechanism are respectively located on both sides of the stacking mechanism. The pick-and-place drive mechanisms of the disassembly robot and the chopping robot are spaced apart and installed at the moving end of the moving drive mechanism. The moving drive mechanism drives the disassembly robot and the chopping robot to move synchronously. The disassembly robot moves back and forth between the stacking mechanism and the conveying mechanism, and the chopping robot moves back and forth between the stacking mechanism and the paper-separating and recycling mechanism.

[0014] The beneficial effects of this utility model are as follows: A descrambling robot and descrambling machine include a pick-and-place drive mechanism, a mounting frame installed on the pick-and-place end of the pick-and-place drive mechanism, a fixed suction component installed on the mounting frame, and a suction device for drooping materials installed on the mounting frame. The suction device for drooping materials includes a lifting driver installed on the mounting frame, a buffer structure installed on the lifting end of the lifting driver, and a movable suction component installed on the buffer structure. The movable suction component is located on one side of the fixed suction component and is arranged parallel to the fixed suction component. This utility model can not only descramble flat stacked materials but also descramble stacked materials with drooping problems. It has good versatility, strong practicality, simple structure, and low cost. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the chopping machine of this utility model.

[0016] Figure 2 This is a three-dimensional structural diagram of the disassembly and chopping robot arm after concealing the pick-and-place drive mechanism.

[0017] Figure 3 This is a three-dimensional structural diagram of the lifting driver and buffer structure of this utility model.

[0018] Figure 4 This is a three-dimensional structural diagram of the movable material suction component of this utility model.

[0019] Explanation of reference numerals in the attached figures: 1. Pick-and-place drive mechanism; 2. Mounting frame; 3. Fixed suction assembly; 4. Suction and drooping device; 5. Lifting driver; 6. Buffer structure; 7. Movable suction assembly; 8. Lifting cylinder; 9. Lifting plate; 10. Fixed crossbar; 11. Fixed suction cup; 12. Guide seat; 13. Guide rod; 14. Limiting plate; 15. Connecting plate; 16. Elastic element; 17. Movable crossbar; 18. Movable suction cup; 19. Shaking suction cup; 20. Proximity switch; 21. Stacking mechanism; 22. Paper recycling mechanism; 23. Conveying mechanism; 24. Moving drive mechanism; 25. Depaneling robot; 26. Chopping robot. Detailed Implementation To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0020] like Figures 1 to 4 As shown, the present invention provides a disassembly and chopping robot, which includes a pick-and-place drive mechanism 1, a mounting frame 2 installed on the pick-and-place end of the pick-and-place drive mechanism 1, a fixed suction assembly 3 installed on the mounting frame 2, and a suction and hanging device 4 installed on the mounting frame 2. The suction and hanging device 4 includes a lifting driver 5 installed on the mounting frame 2, a buffer structure 6 installed on the lifting end of the lifting driver 5, and a movable suction assembly 7 installed on the buffer structure 6. The movable suction assembly 7 is located on one side of the fixed suction assembly 3 and is arranged parallel to the fixed suction assembly 3.

[0021] This utility model also provides a disassembly and chopping machine, including a stacking mechanism 21, a paper-separating and recycling mechanism 22, a conveying mechanism 23, a moving drive mechanism 24, a disassembly robot 25, and the aforementioned disassembly and chopping robot 26. The paper-separating and recycling mechanism 22 and the conveying mechanism 23 are respectively located on both sides of the stacking mechanism 21. The pick-and-place drive mechanisms 1 of the disassembly robot 25 and the disassembly and chopping robot 26 are spaced apart and installed at the moving end of the moving drive mechanism 24. The moving drive mechanism 24 drives the disassembly robot 25 and the disassembly and chopping robot 26 to move synchronously. The disassembly robot 25 reciprocates between the stacking mechanism 21 and the conveying mechanism 23, and the disassembly and chopping robot 26 reciprocates between the stacking mechanism 21 and the paper-separating and recycling mechanism 22.

[0022] This embodiment uses the disassembly of stacked materials as an example. For instance, the stacked materials consist of multiple plates and multiple spacers stacked at intervals, with the spacers being larger than the plates. When one side of a spacer is flush with one side of a plate, because the spacer is larger, the other side of the spacer extends beyond the plate, causing it to droop. Furthermore, the drooping angle of the other side of the spacer gradually increases from bottom to top among spacers of different heights. When disassembly of the stacked materials is required, and the top layer is a plate, the moving drive mechanism 2... 4. Drive the depaneling robot 25 and the chopping robot 26 to move synchronously, so that the depaneling robot 25 moves above the stacked material of the stacking mechanism 21, and the chopping robot 26 moves above the paper recycling mechanism 22. At this time, the depaneling robot 25 picks up the board. Then, the drive mechanism 24 drives the depaneling robot 25 and the chopping robot 26 to move synchronously in opposite directions, so that the depaneling robot 25 moves with the board above the conveying mechanism 23 and places the board on the conveying mechanism 23. The conveying mechanism 23 outputs the board. At the same time, the chopping robot... 26 moves above the stacked material of the stacking mechanism 21. The pick-and-place drive mechanism 1 drives the mounting bracket 2, along with the fixed suction component 3 and the suction drooping device 4, to move down synchronously until the fixed suction component 3 can contact and suck up the straight part of the separator paper. At this time, there is a certain gap between the movable suction component 7 and the drooping part of the separator paper. Then, the lifting drive 5 drives the buffer structure 6 to descend along with the movable suction component 7 until the movable suction component 7 can contact and suck up the drooping part of the separator paper. Then, the lifting drive 5 drives the buffer structure 6 to descend along with the movable suction component 7 and the drooping part of the separator paper. The material is raised so that the height of the movable suction component 7 is approximately level with the height of the fixed suction component 3. Then, the moving drive mechanism 24 drives the disassembly robot 25 and the chopping robot 26 to move synchronously. The disassembly robot 25 moves above the stacked material on the stacking mechanism 21, and the chopping robot 26 moves above the paper separator recycling mechanism 22. The chopping robot 26 places the paper separator on the paper separator recycling mechanism 22. The above operation steps are repeated to chop the stacked material carried by the stacking mechanism 21, so as to realize the output of the board and the recycling of the paper separator. During the process of the lifting drive 5 driving the movable suction component 7 to descend and pick up the drooping part of the paper separator, the buffer structure 6 plays a buffering role to avoid hard impact collision between the movable suction component 7 and the stacked material. Since the drooping amplitude of the paper separator at different heights is different, the buffer structure 6 can also compensate for the difference in drooping amplitude, so that the movable suction component 7 can stably hold the drooping part of the paper separator. Of course, when the size of the board and the size of the partition paper are the same, the lifting driver 5 does not need to be activated to disassemble the board and the partition paper. This utility model can not only disassemble flat stacked materials, but also disassemble stacked materials with sagging problems. It has good versatility, strong practicality, simple structure, and low cost.

[0023] In this embodiment, the lifting driver 5 includes a lifting cylinder 8 mounted on the mounting frame 2 and a lifting plate 9 mounted on the lifting cylinder 8, with a buffer structure 6 mounted on the lifting plate 9. In practical applications, the lifting cylinder 8 drives the lifting plate 9, along with the buffer structure 6 and the movable suction assembly 7, to rise and fall, so that the movable suction assembly 7 can grip the drooping part of the paper separator.

[0024] In this embodiment, there are two suction devices 4, located on both sides of the fixed suction assembly 3. When both sides of the stacked material have sagging issues, the two suction devices 4 can respectively suction the two sagging parts of the separator paper. Of course, depending on the sagging situation of the stacked material, either one suction device 4 can work independently, or both suction devices 4 can work simultaneously.

[0025] In this embodiment, the fixed suction assembly 3 includes a fixed crossbar 10 mounted on the mounting frame 2 and a plurality of fixed suction cups 11 arranged in a straight line on the fixed crossbar 10. In practical applications, the plurality of fixed suction cups 11 clamp the flat portion of the plate or the paper separator.

[0026] In this embodiment, the buffer structure 6 includes a guide seat 12 mounted on the lifting end of the lifting drive 5, a guide rod 13 slidingly passing through the guide seat 12, a limiting plate 14 mounted on the top end of the guide rod 13, a connecting plate 15 mounted on the bottom end of the guide rod 13, and an elastic element 16 elastically disposed between the guide seat 12 and the connecting plate 15. The limiting plate 14 is located above the guide seat 12 and is used to abut against the top surface of the guide seat 12. The movable suction assembly 7 is mounted on the connecting plate 15. Specifically, the elastic element 16 is a spring, which is sleeved on the outside of the guide rod 13, and the two ends of the spring elastically abut against the bottom surface of the guide seat 12 and the top surface of the connecting plate 15, respectively. This structural design provides good buffering effect.

[0027] In this embodiment, the movable suction assembly 7 includes a movable crossbar 17 mounted on the buffer end of the buffer structure 6 and a plurality of movable suction cups 18 arranged in a straight line on the movable crossbar 17. In practical applications, the plurality of movable suction cups 18 grip the drooping part of the paper separator.

[0028] In this embodiment, the movable suction assembly 7 also includes a vibrating suction cup 19 mounted on the movable crossbar 17. During the process of multiple movable suction cups 18 gripping the drooping part of the partition paper, the vibrating suction cup 19 will vibrate the drooping part of the partition paper to achieve the separation of two adjacent partition papers.

[0029] In this embodiment, the movable suction assembly 7 also includes a proximity switch 20 installed on the movable crossbar 17, and the proximity switch 20 is electrically connected to the lifting driver 5. In practical applications, as the movable suction assembly 7 moves downward, when the paper contactes the proximity switch 20 to trigger the proximity switch 20, it proves that the movable suction assembly 7 has moved to the correct position. The multiple movable suction cups 18 of the movable suction assembly 7 can then hold the drooping part of the paper tightly. At this time, the proximity switch 20 sends a signal to the lifting driver 5, causing the lifting driver 5 to drive the buffer structure 6, along with the movable suction assembly 7 and the drooping part of the paper, to move upward.

[0030] Specifically, the proximity switch 20 is mounted on the movable crossbar 17 via a buffer mechanism, the structure of which is the same as that of the buffer structure 6. This design allows the buffer mechanism to cushion the proximity switch 20, preventing a hard impact collision between the proximity switch 20 and the drooping part of the paper separator.

[0031] All technical features in this embodiment can be freely combined according to actual needs.

[0032] The above embodiments are preferred implementations of this utility model. In addition, this utility model can also be implemented in other ways. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. A dicing robot characterized by: It includes a pick-and-place drive mechanism (1), a mounting frame (2) installed on the pick-and-place end of the pick-and-place drive mechanism (1), a fixed suction assembly (3) installed on the mounting frame (2), and a suction and drooping device (4) installed on the mounting frame (2). The suction and drooping device (4) includes a lifting drive (5) installed on the mounting frame (2), a buffer structure (6) installed on the lifting end of the lifting drive (5), and a movable suction assembly (7) installed on the buffer structure (6). The movable suction assembly (7) is located on one side of the fixed suction assembly (3), and the movable suction assembly (7) is arranged parallel to the fixed suction assembly (3).

2. The disassembling robot according to claim 1, characterized in that: The lifting drive (5) includes a lifting cylinder (8) mounted on the mounting frame (2) and a lifting plate (9) mounted on the lifting cylinder (8), and a buffer structure (6) mounted on the lifting plate (9).

3. The dicing robot of claim 1, wherein: There are two suction and drooping devices (4), which are located on both sides of the fixed suction assembly (3).

4. The cutting robot of claim 1 wherein: The fixed suction assembly (3) includes a fixed crossbar (10) mounted on the mounting frame (2) and a plurality of fixed suction cups (11) arranged in a straight line on the fixed crossbar (10).

5. The cutting robot of claim 1 wherein: The buffer structure (6) includes a guide seat (12) installed at the lifting end of the lifting drive (5), a guide rod (13) that slides through the guide seat (12), a limiting plate (14) installed at the top of the guide rod (13), a connecting plate (15) installed at the bottom of the guide rod (13), and an elastic member (16) elastically disposed between the guide seat (12) and the connecting plate (15). The limiting plate (14) is located above the guide seat (12) and is used to abut against the top surface of the guide seat (12). The movable suction assembly (7) is installed on the connecting plate (15).

6. A cutting tool according to claim 5, wherein: The elastic element (16) is a spring, which is sleeved outside the guide rod (13). The two ends of the spring elastically abut against the bottom surface of the guide seat (12) and the top surface of the connecting plate (15), respectively.

7. The cutting tool of claim 1 wherein: The movable suction assembly (7) includes a movable crossbar (17) installed at the buffer end of the buffer structure (6) and a plurality of movable suction cups (18) arranged in a straight line on the movable crossbar (17).

8. The disassembling robot according to claim 7, characterized in that: The movable suction assembly (7) also includes a vibrating suction cup (19) mounted on the movable crossbar (17).

9. The cutting tool of claim 7 wherein: The movable suction assembly (7) also includes a proximity switch (20) mounted on the movable crossbar (17), which is electrically connected to the lifting drive (5).

10. A chopper, characterized by: The device includes a stacking mechanism (21), a paper recycling mechanism (22), a conveying mechanism (23), a moving drive mechanism (24), a depaneling robot (25), and a chopping robot (26) as described in any one of claims 1 to 9. The paper recycling mechanism (22) and the conveying mechanism (23) are located on both sides of the stacking mechanism (21). The pick-and-place drive mechanisms (1) of the depaneling robot (25) and the chopping robot (26) are spaced apart and installed at the moving end of the moving drive mechanism (24). The moving drive mechanism (24) drives the depaneling robot (25) and the chopping robot (26) to move synchronously. The depaneling robot (25) moves back and forth between the stacking mechanism (21) and the conveying mechanism (23), and the chopping robot (26) moves back and forth between the stacking mechanism (21) and the paper recycling mechanism (22).

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