Green sheet handling device

Abstract

The utility model relates to the wet blank carrying equipment applied in mould forming process, specifically speaking to a kind of wet blank carrying device based on manipulator.A kind of wet blank carrying device, including the realization of the mechanical hand of tray carrying, the fixed end of this mechanical hand is installed on the fixed frame of carrying station by connecting piece, and the free end of mechanical hand is installed for carrying fork body.Added tray identification component, whether there is tray on fork body can be monitored in real time, and the monitoring result is fed back to the controller of mechanical hand, realizes timely error correction and air transport alarm, avoids mechanical hand air transport, improves work efficiency;Add tray safety component, simple structure, improvement is convenient, cooperate with the antiskid rubber plate on the surface of fork body, limit and antiskid to tray, effectively prevent the slippage in moving process, reduce the scrap rate.

Description

Technical Field

[0001] This utility model relates to a wet blank handling equipment used in mold forming process, specifically a wet blank handling device based on a robotic arm. Background Technology

[0002] In the production of sanitary ware, wet blanks need to be transferred, with the blanks supported by pallets. During transfer, the forks at the free end of a robotic arm lift the pallet supporting the wet blank and precisely place it in the designated position. However, during the transfer of wet blanks, the rapid movement of the robotic arm can cause the pallet to slip due to inertia, resulting in low safety and a high scrap rate. Furthermore, empty transfers frequently occur, meaning that for some reason, the forks begin the next transfer without lifting the pallet containing the wet blank, significantly reducing work efficiency. Utility Model Content

[0003] This invention addresses the problems mentioned in the background art, such as the easy slippage of pallets and the need for robotic arms to transport materials without load, by providing a wet billet handling device.

[0004] The technical solution adopted by this utility model is as follows: a wet billet handling device, including a robot arm for pallet handling, the fixed end of which is mounted on a fixed frame at the handling station via a connector, and a fork for handling is mounted on the free end of the robot arm. The fork is provided with a pallet identification component and a pallet positioning component; two sets of the pallet identification components are symmetrically arranged on both sides of the fork via mounting plates; the pallet identification components realize real-time monitoring of whether a pallet is placed on the fork; at least two of the pallet positioning components are installed on the inner end of the fork to realize positioning of the pallet on the fork.

[0005] As a preferred technical solution: the mounting plate is an L-shaped plate, with its horizontal surface installed on the rear of the fork body and its vertical surface hanging on both sides of the rear of the fork body; a horizontal elongated hole is provided on the rear of the fork body, and the horizontal position of the mounting plate on the rear of the fork body is adjustable.

[0006] As a preferred technical solution: the pallet identification component includes a limit switch, a metal plate, a rotating shaft, and a contact wheel; the limit switch is installed on the inner side of the vertical surface of the mounting plate, and a mounting seat is provided at the end of the limit switch, through which the metal plate passes and is hinged to the mounting seat by the rotating shaft; the inner end of the metal plate corresponds to the trigger point of the limit switch, and the outer end of the metal plate is equipped with a contact wheel.

[0007] As a preferred technical solution: a longitudinal elongated hole is provided on the vertical surface of the mounting plate, and the vertical position of the limit switch on the mounting plate is adjustable.

[0008] As a preferred technical solution, the limit switch is connected to the controller of the robot arm.

[0009] As a preferred technical solution: the pallet positioning assembly includes a limiting post fixed to the inner end of the fork body, and the limiting post corresponds to the limiting hole provided on the inner side of the pallet.

[0010] As a preferred technical solution, a rubber plate is provided on the top of the fork.

[0011] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. A pallet recognition component has been added, which can monitor in real time whether there is a pallet on the fork and feed the monitoring results back to the controller of the robot arm to realize timely error correction and empty transport alarm, avoid empty transport by the robot arm and improve work efficiency; 2. The addition of a pallet safety component is simple in structure and easy to improve. Together with the anti-slip rubber plate on the surface of the fork, it limits and prevents slippage of the pallet during movement, thereby reducing the scrap rate. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0013] Figure 2 This is a schematic diagram of the structure of this utility model from another angle.

[0014] Figure 3 This is a schematic diagram showing the installation position of the tray recognition component in this utility model.

[0015] Figure 4 This is a schematic diagram of the tray identification component in this utility model.

[0016] Figure 5 An improved tray is shown in one embodiment.

[0017] Figure 6 An improved tray in another embodiment.

[0018] In the diagram: 1. Robotic arm; 2. Fork body; 3. Pallet recognition component; 3-1. Limit switch; 3-2. Rotary shaft; 3-3. Contact wheel; 3-4. Metal sheet; 3-5. Mounting base; 4. Pallet positioning component; 5. Rubber plate; 6. Mounting plate. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] See appendix Figure 1-4This invention is an improvement on existing wet billet transfer devices. It mainly includes a robotic arm 1 for pallet handling. The fixed end of the robotic arm 1 is mounted on a fixed frame at the handling station via high-strength bolts and other connecting components. The free end of the robotic arm 1 is equipped with a fork 2 for handling. A pallet identification component 3 and a pallet positioning component 4 are provided at the tail of the fork 2. The robotic arm 1 can rotate in all directions and at multiple angles, precisely placing the fork 2 in a designated position. Two sets of pallet identification components 3 are symmetrically arranged on both sides of the fork 2 via mounting plates 6; the pallet identification components 3 monitor in real time whether a pallet is placed on the fork. At least two pallet positioning components 4 are installed on the inner end (near the tail) of the fork 2 to position the pallet on the fork 2.

[0021] In a preferred embodiment, the mounting plate 6 is an L-shaped plate, with its horizontal surface mounted on top of the rear of the fork 2 and its vertical surface perpendicular to both sides of the rear of the fork 2. Preferably, a transverse elongated hole is provided on the rear of the fork 2, allowing the horizontal position of the mounting plate 6 on the rear of the fork 2 to be adjusted. Specifically, the vertical surface of the mounting plate 6 is a certain distance from the side of the rear of the fork 2, and the horizontal position of the mounting plate 6 is adjustable to correspond to different sized pallets.

[0022] In another preferred embodiment, the pallet identification component 3 includes a limit switch 3-1, a metal plate 3-4, a rotating shaft 3-2, and a contact wheel 3-3. The limit switch 3-1 is mounted on the inner side of the vertical surface of the mounting plate 6 via a connector. A mounting base 3-5 is provided at the outer end of the limit switch 3-1. The metal plate 3-4 passes through the middle of the mounting base 3-5 and is hinged to the mounting base 3-5 via the rotating shaft 3-2. The metal plate 3-4 rotates under the drive of the contact wheel 3-3, which in turn drives the rotating shaft 3-2 to rotate, triggering the limit switch 3-1 and achieving the monitoring effect.

[0023] Preferably, the metal sheet 3-4 is provided with an elongated hole, which can adjust the position of the metal sheet 3-4 within the mounting base 3-5, thereby adjusting the front and rear position of the contact wheel 3-3 at its end.

[0024] Preferably, a longitudinal elongated hole is provided on the vertical surface of the mounting plate 6, and the vertical position of the limit switch 3-1 on the mounting plate 6 is adjustable.

[0025] Limit switch 3-1 is connected to the robot's controller. When the limit switch is triggered, meaning a pallet has been placed on the fork, the robot continues to the next action; if the limit switch is not triggered after reaching its position, meaning no pallet has been placed on the fork, the controller will not continue to the next action, or will issue an alarm.

[0026] In a preferred embodiment, the pallet positioning assembly 4 includes a limiting post fixed to the inner end of the fork body 2, the limiting post corresponding to a limiting hole provided on the inner side of the pallet. A limiting hole is made at a corresponding position on the side of the pallet; when the pallet is placed on the fork body, the limiting hole corresponds to the limiting post, thus limiting the position of the pallet; or, when the fork body lifts the pallet, the moving position of the fork body is the position below the pallet, where the limiting hole and the limiting post are aligned. Preferably, a rubber plate 5 is provided on the top of the fork body 2, which increases the friction between the pallet and the fork body 2, effectively preventing the pallet from slipping.

[0027] There are two ways to improve the pallet to match the fork body pallet positioning assembly: In one embodiment, see Figure 5 One method is to add an additional plate to the outer side of the existing pallet, with limiting holes made on the additional plate; In another embodiment, see Figure 6 Another method is to create limiting holes at relative positions on the bottom surface of the existing pallet. These holes can be through holes or limiting grooves.

[0028] During use, when the limit hole of the pallet is aligned with the position of the limit post, the inner side of the pallet will press against the contact wheel when the pallet is placed on the fork, causing the metal plate to trigger the limit switch, which recognizes that the pallet is placed in place, and the robot arm will perform the transfer action normally.

Claims

1. A wet billet handling device, comprising a robotic arm for pallet handling, wherein the fixed end of the robotic arm is mounted on a fixed frame at a handling station via a connector, and the free end of the robotic arm is fitted with a fork for handling, characterized in that, The fork body is equipped with a tray identification component and a tray positioning component; The two sets of pallet recognition components are symmetrically arranged on both sides of the fork body via mounting plates; the pallet recognition components enable real-time monitoring of whether a pallet is placed on the fork body. At least two of the pallet positioning components are installed on the inner end of the fork body to position the pallet on the fork body.

2. The wet billet handling device according to claim 1, characterized in that, The mounting plate is an L-shaped plate with its horizontal surface mounted on the rear of the fork and its vertical surface hanging on both sides of the rear of the fork. A horizontal elongated hole is provided on the rear of the fork, and the horizontal position of the mounting plate on the rear of the fork is adjustable.

3. The wet billet handling device according to claim 2, characterized in that, The pallet identification assembly includes a limit switch, a metal plate, a rotating shaft, and a contact wheel; The limit switch is installed on the inner side of the vertical surface of the mounting plate. A mounting base is provided at the end of the limit switch, through which a metal plate passes and is hinged to the mounting base by a rotating shaft. The inner end of the metal strip corresponds to the trigger point of the limit switch, and a contact wheel is installed on the outer end of the metal strip.

4. The wet billet handling device according to claim 3, characterized in that, The mounting plate has a longitudinal elongated hole on its vertical surface, and the limit switch can be adjusted up and down on the mounting plate.

5. The wet billet handling device according to claim 3 or 4, characterized in that, The limit switch is connected to the controller of the robot arm.

6. The wet billet handling device according to claim 1, characterized in that, The pallet positioning assembly includes a limiting post fixed to the inner end of the fork body, and the limiting post corresponds to a limiting hole provided on the inner side of the pallet.

7. The wet billet handling device according to claim 1, characterized in that, A rubber plate is provided on the top of the fork.

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