CN110076467A - A kind of manipulator loading and unloading system taken for elevator seat plate grab - Google Patents
A kind of manipulator loading and unloading system taken for elevator seat plate grab Download PDFInfo
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- CN110076467A CN110076467A CN201910507472.9A CN201910507472A CN110076467A CN 110076467 A CN110076467 A CN 110076467A CN 201910507472 A CN201910507472 A CN 201910507472A CN 110076467 A CN110076467 A CN 110076467A
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- 230000007246 mechanism Effects 0.000 claims abstract description 138
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 107
- 239000010959 steel Substances 0.000 claims abstract description 107
- 208000006011 Stroke Diseases 0.000 claims abstract description 28
- 230000003028 elevating effect Effects 0.000 claims description 6
- 238000010926 purge Methods 0.000 claims description 4
- 230000006698 induction Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 230000000630 rising effect Effects 0.000 abstract description 4
- 238000005520 cutting process Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 238000010009 beating Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000001939 inductive effect Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000005570 vertical transmission Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 230000000155 isotopic effect Effects 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000005906 menstruation Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000000644 propagated effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the invention discloses a kind of manipulator loading and unloading systems taken for elevator seat plate grab.Manipulator loading and unloading system of the invention, comprising: Strok mechanism, grasping mechanism and controller, Strok mechanism drive grasping mechanism up and down and move left and right.Grasping mechanism includes: crawl bracket, cylinder of saying good-bye, bracket of saying good-bye, vacuum pump and vacuum chuck, and bracket of saying good-bye is arranged in one end of crawl bracket, connect with the movable end for cylinder of saying good-bye, and the bottom of crawl bracket and bracket of saying good-bye is arranged in vacuum chuck.Manipulator loading and unloading system of the invention, it is controlled by controller, the loading and unloading that crawl steel plate completes steel plate are adsorbed by vacuum chuck, improve production efficiency, and cylinder of saying good-bye when crawl steel plate first stretches out the bracket rising that makes to say good-bye, the vacuum chuck said good-bye on bracket drives the side of steel plate to tilt, makes to separate between steel plate and lower layer's steel plate, crawl bracket rises overally again, so that grasping mechanism only grabs one block of steel plate every time.
Description
Technical field
The present embodiments relate to manipulator fields, and in particular to a kind of manipulator taken for elevator seat plate grab
Blanking system.
Background technique
Chair type elevator is a kind of a kind of elevator for operating in stair side, is mainly to aid in action inconvenient people or more
Stair.
In order to guarantee the intensity of seat, the seat on elevator is all made of steel plate and is made.Due to the steel plate surface from market purchasing
Product is larger, cuts in actual production in use, machine need to be cut by laser to biggish plate, to meet production needs.
The inventors of the present application found that artificial loading and unloading are generally used when cutting in the prior art to steel plate, it is time-consuming
Arduously, production efficiency is low, and since there are suction, when steel plate feeding is even more to be not easy to chop from material to divide between the steel plate of stacking
It opens.
Summary of the invention
The purpose of the present invention is to provide a kind of manipulator loading and unloading systems taken for elevator seat plate grab, to improve
Production efficiency.
The embodiment of the present invention provides a kind of manipulator loading and unloading system taken for elevator seat plate grab, comprising: stroke
Mechanism, grasping mechanism and controller；
The Strok mechanism includes: stroke bracket, first crossbeam, horizontal mobile mechanism and elevating mechanism；
The first crossbeam is horizontally set on the stroke bracket；
The horizontal mobile mechanism includes: sliding block and horizontal motor；
The sliding block is movably disposed on the first crossbeam, and the horizontal motor is for driving the sliding block along institute
It is mobile to state first crossbeam；
The elevating mechanism includes: stringer and lifting motor；
The stringer is movably disposed on the sliding block, and the lifting motor is for driving the stringer relatively described
Sliding block moves up and down；
The bottom end of the stringer is arranged in the grasping mechanism；
The grasping mechanism includes: crawl bracket, cylinder of saying good-bye, bracket of saying good-bye, vacuum pump and multiple vacuum chucks；
The vacuum pump is arranged on the crawl bracket；
The multiple vacuum chuck includes: multiple first vacuum chucks and multiple second vacuum chucks；
The bottom of the crawl bracket is arranged in the multiple first vacuum chuck；
The cylinder of saying good-bye is arranged on the crawl bracket；
One end of the crawl bracket, and the work of the say good-bye bracket and the cylinder of saying good-bye is arranged in the bracket of saying good-bye
Moved end connection, the cylinder of saying good-bye is for driving the bracket lifting of saying good-bye；
The bottom of the bracket of saying good-bye is arranged in the multiple second vacuum chuck, with one lifting of bracket of saying good-bye；
The multiple first vacuum chuck and the multiple second vacuum chuck are connected by vacuum line and the vacuum pump
It connects, the multiple first vacuum chuck and the multiple second vacuum chuck are for drawing steel plate；
The Strok mechanism and the grasping mechanism are electrically connected with the controller.
In a kind of feasible scheme, further includes: thickness transducer；
The thickness transducer is arranged on the crawl bracket, the thickness of the steel plate for detecting crawl；
The thickness transducer and the controller are electrically connected, and the thickness signal that the thickness transducer will test is sent
To the controller, the controller is used to receive the thickness signal that the thickness transducer is sent.
In a kind of feasible scheme, further includes: preceding mechanism of clapping, after clap mechanism, a left side clap mechanism and the right side is clapped machine
Structure；
Clap before described mechanism, it is described after clap mechanism, the left side clap mechanism and right side mechanism of clapping is arranged in institute
It states on crawl bracket；
Mechanism of clapping before described claps cylinder and front side board before including:；
The front side board with it is described before cylinder of clapping connect, the front side board is used to clap the leading flank of steel plate；
Clap before described cylinder and the controller is electrically connected, the controller for control it is described before clap cylinder
It is flexible；
Mechanism of clapping after described claps cylinder and back side panel after including:；
The back side panel with it is described after cylinder of clapping connect, the back side panel is used to clap the trailing flank of steel plate；
Clap after described cylinder and the controller is electrically connected, the controller for control it is described after clap cylinder
It is flexible；
Left side mechanism of clapping includes: that a left side is clapped cylinder and left plate；
The left plate and the left side cylinder of clapping are connect, and the left plate is used to clap the left side of steel plate；
Clap cylinder and the controller of the left side is electrically connected, and the controller is clapped cylinder for controlling the left side
It is flexible；
Right side mechanism of clapping includes: that the right side is clapped cylinder and right side plate；
The right side plate and the right side cylinder of clapping are connect, and the right side plate is used to clap the right side of steel plate；
Clap cylinder and the controller of the right side is electrically connected, and the controller is clapped cylinder for controlling the right side
It is flexible.
In a kind of feasible scheme, further includes: air pump and multiple jet thrusts；
The air pump is arranged on the crawl bracket；
The multiple jet thrust is corresponding with the multiple vacuum chuck, is arranged on the crawl bracket, and the multiple
Jet thrust is connect by gas piping with the air pump, and the jet thrust is for purging the surface of steel plate；
The air pump and the controller are electrically connected, and the controller is used to control the opening and closing of the air pump.
In a kind of feasible scheme, further includes: photoelectric sensor；
The photoelectric sensor setting is said good-bye on bracket described；
The photoelectric sensor and the controller are electrically connected, and the controller is for receiving the photoelectric sensor
Inductive signal.
In a kind of feasible scheme, the vacuum line includes: vacuum supervisor and multiple vacuum manifolds；
The vacuum supervisor connect with the vacuum pump；
One end of the multiple vacuum manifold is responsible for the vacuum connects in parallel；
The multiple vacuum chuck is connect with the other end of the multiple vacuum manifold respectively.
In a kind of feasible scheme, the vacuum supervisor is equipped with check valve and accumulator.
In a kind of feasible scheme, control valve is equipped in the multiple vacuum manifold.
In a kind of feasible scheme, vacuum filter is equipped in the vacuum supervisor and the vacuum manifold.
In a kind of feasible scheme, the vacuum supervisor is equipped with vacuum pressure sensor；
The vacuum pressure sensor and the controller are electrically connected.
Based on above scheme it is found that the manipulator loading and unloading system taken for elevator seat plate grab of the invention, passes through
Setting Strok mechanism, grasping mechanism and controller, grasping mechanism are connect with Strok mechanism, and Strok mechanism drives grasping mechanism or more
With move left and right, and Strok mechanism and grasping mechanism with controller be electrically connected.Grasping mechanism includes: crawl bracket, says good-bye
Cylinder, bracket of saying good-bye, vacuum pump and vacuum chuck, cylinder of saying good-bye setting is on crawl bracket, and bracket of saying good-bye setting is in crawl branch
One end of frame is connect with the movable end for cylinder of saying good-bye, and vacuum chuck setting is in crawl bracket and says good-bye on bracket, and passes through vacuum
Pipeline is controlled to a vacuum pump.The manipulator loading and unloading system taken for elevator seat plate grab of the invention, by PLC technology
Device control adsorbs the loading and unloading that crawl steel plate completes steel plate by vacuum chuck, improves production efficiency, and grab the steel plate time-division
It opens cylinder and first stretches out the bracket rising that makes to say good-bye, the vacuum chuck said good-bye on bracket drives the side of steel plate to tilt, the steel plate of crawl
It is separated between lower layer's steel plate, then grabs bracket and rise overally, so that grasping mechanism only grabs one block of steel plate every time, guarantee steel
Plate is safely operated when moving.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the three-dimensional signal of the manipulator loading and unloading system taken for elevator seat plate grab in the embodiment of the present invention
Figure；
Fig. 2 is the enlarged drawing at the A in Fig. 1 in the embodiment of the present invention；
Fig. 3 is the grasping mechanism of the manipulator loading and unloading system taken for elevator seat plate grab in the embodiment of the present invention
Schematic top plan view；
Fig. 4 is the enlarged drawing at the B in Fig. 3 in the embodiment of the present invention；
Fig. 5 is the vacuum line of the manipulator loading and unloading system taken for elevator seat plate grab in the embodiment of the present invention
Schematic diagram；
Fig. 6 is the controller of the manipulator loading and unloading system taken for elevator seat plate grab in the embodiment of the present invention
Control schematic diagram.
Figure label:
11, first crossbeam；12, sliding block；13, stringer；2, grasping mechanism；21, bracket is grabbed；211, second cross beam；212,
More connecting rods；22, it says good-bye cylinder；23, it says good-bye bracket；24, vacuum pump；25, vacuum chuck；251, the first vacuum chuck；252,
Second vacuum chuck；26, vacuum line；2601, vacuum filter；261, vacuum is responsible for；2611, check valve；2612, accumulation of energy
Device；2613, vacuum pressure sensor；262, vacuum manifold；2621, control valve；3, thickness transducer；41, preceding mechanism of clapping；
411, preceding cylinder of clapping；412, front side board；42, clap after mechanism；421, clap after cylinder；422, back side panel；43, a left side is clapped machine
Structure；431, a left side is clapped cylinder；432, left plate；44, the right side is clapped mechanism；441, the right side is clapped cylinder；442, right side plate；51, air pump；
52, jet thrust；6, photoelectric sensor；
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
"front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " axial direction ", " radial direction ", " circumferential direction " etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and letter
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, and be also possible to integral；It can be
Mechanical connection, is also possible to be electrically connected, is also possible to communication connection；It can be and be directly connected to, intermediary can also be passed through
It is indirectly connected with, can be the connection inside two elements or the interaction relationship of two elements, unless otherwise restricted clearly.
For the ordinary skill in the art, can understand as the case may be above-mentioned term in the present invention specifically contain
Justice.
Technical solution of the present invention is described in detail with specifically embodiment below.These specific implementations below
Example can be combined with each other, and the same or similar concept or process may be repeated no more in some embodiments.
Fig. 1 is the three-dimensional signal of the manipulator loading and unloading system taken for elevator seat plate grab in the embodiment of the present invention
Figure, Fig. 2 are the enlarged drawing at the A in Fig. 1 in the embodiment of the present invention, and Fig. 3 is to be used for elevator seat in the embodiment of the present invention
The schematic top plan view of the grasping mechanism of the manipulator loading and unloading system of steel plate crawl, Fig. 4 are in Fig. 3 in the embodiment of the present invention
Enlarged drawing at B, Fig. 5 are the vacuum of the manipulator loading and unloading system taken for elevator seat plate grab in the embodiment of the present invention
The schematic diagram of pipeline, Fig. 6 are the control of the manipulator loading and unloading system taken for elevator seat plate grab in the embodiment of the present invention
The control schematic diagram of device processed.As shown in Figures 1 to 6, the manipulator loading and unloading taken for elevator seat plate grab of the present embodiment
System, comprising: Strok mechanism, grasping mechanism 2 and controller.
Strok mechanism includes: stroke bracket, first crossbeam 11, horizontal mobile mechanism and elevating mechanism.
Stroke bracket (being not drawn into figure) fixed setting, is used to support first crossbeam 11, first crossbeam 11 is horizontally set on
On stroke bracket.
Horizontal mobile mechanism includes: sliding block 12 and horizontal motor.
Sliding block 12 is movably disposed on first crossbeam 11, and horizontal motor (being not drawn into figure) passes through horizontal drive mechanism
It is sequentially connected with sliding block 12, the rotation band movable slider 12 of horizontal motor is moved along 11 left and right horizontal of first crossbeam.
Elevating mechanism includes: stringer 13 and lifting motor.
Stringer 13 is vertically arranged, and stringer 13 is movably disposed on sliding block 12, is driven when sliding block 12 moves left and right vertical
Beam 13 moves left and right together.Lifting motor (being not drawn into figure) is sequentially connected by vertical transmission mechanism and stringer 13, lifting electricity
The rotation of machine drives 13 opposing slider 12 of stringer to move up and down.
Horizontal drive mechanism and vertical transmission mechanism in the present embodiment can be cooperated by gear and linear gear rack
It realizes, motor driven gear rotation, linear gear rack is engaged with gear, and the rotation of gear drives linear gear rack to do straight line fortune
It is dynamic.Horizontal drive mechanism and vertical transmission mechanism can also be cooperated by sliding block and screw rod to be realized, motor drives screw mandrel turns
Dynamic, sliding block is engaged on screw rod by internal screw thread, and the rotation band movable slider of screw rod is moved in a straight line along screw rod.Horizontal drive mechanism
It has been widely used in existing production with vertical transmission mechanism, it will be apparent to those skilled in the art that this is the prior art, this
No further details to be given herein for embodiment.
The bottom end of stringer 13 is arranged in grasping mechanism 2, is fixedly connected by connector with stringer 13, stringer 13 upper and lower and
It moves left and right and grasping mechanism is driven to move together.
Grasping mechanism 2 includes: crawl bracket 21, cylinder 22 of saying good-bye, bracket 23 of saying good-bye, vacuum pump 24 and vacuum chuck 25.
Grabbing bracket 21 includes: two second cross beams 211 and Duo Gen connecting rod 212, between two second cross beams 211 are parallel to each other
It every the bottom that stringer 13 is arranged in, is fixedly connected with stringer 13, and second cross beam 211 is horizontally disposed.More connecting rods 212 pass through company
Fitting removable compartment is connected on second cross beam 211, and connecting rod 212 is also horizontally disposed with, more connecting rods 212 and two second cross beams
The crawl bracket 21 of 211 composition intersecting parallels.
Vacuum pump 24 is fixed on crawl bracket 21.
Vacuum chuck 25 is equipped with multiple, and vacuum chuck 25 includes: that multiple first vacuum chucks 251 and multiple second vacuum are inhaled
Disk 252.
Multiple first vacuum chucks 251 are divided into two groups, and two group of first vacuum chuck 251 is distinguished in a manner of mirror symmetry
The both ends of the connecting rod 212 of crawl bracket 21 are set, and the first vacuum chuck 251 is located at the bottom of connecting rod 212.In the present embodiment,
First vacuum chuck 251 is detachably connected by connector with connecting rod 212, to facilitate installation and the position of the first vacuum chuck 251
The adjustment set.
Cylinder 22 of saying good-bye is fixed on crawl bracket 21, positioned at one end of the second cross beam 211 of crawl bracket 21
End.
The end of one end of crawl bracket 21 is arranged in bracket 23 of saying good-bye, and the activity of say good-bye bracket 23 and cylinder 22 of saying good-bye
End connection, the flexible drive of the movable end for cylinder 22 of saying good-bye say good-bye bracket 23 lifting.
Multiple second vacuum chucks 252, which are arranged at intervals on, says good-bye on bracket 23, positioned at the bottom for bracket 23 of saying good-bye, branch of saying good-bye
The lifting of frame 23 drives 252 1 lifting of the second vacuum chuck.Second vacuum chuck 252 by connector and say good-bye bracket 23 can
Dismantling connection, to facilitate the installation and position adjustment of the second vacuum chuck 252.
Multiple first vacuum chucks 251 and multiple second vacuum chucks 252 pass through vacuum line 26 and vacuum pump 24 respectively
It is tightly connected, vacuum is extracted by vacuum pump 24, make to produce in multiple first vacuum chucks 251 and multiple second vacuum chucks 252
Raw negative pressure, with crawl (absorption) steel plate.
Strok mechanism and grasping mechanism 2 are electrically connected with controller, and controller control Strok mechanism and grasping mechanism are pressed
Pre-set programs execute corresponding deliberate action, to grab and put down steel plate.
Through the above it is not difficult to find that the manipulator loading and unloading system taken for elevator seat plate grab of the present embodiment
System is connect by setting Strok mechanism, grasping mechanism and controller, grasping mechanism with Strok mechanism, and Strok mechanism drives crawl
It above and below mechanism and moves left and right, and Strok mechanism and grasping mechanism are electrically connected with controller.Grasping mechanism includes: crawl branch
Frame, cylinder of saying good-bye, bracket of saying good-bye, vacuum pump and vacuum chuck, on crawl bracket, bracket of saying good-bye setting exists for cylinder of saying good-bye setting
The one end for grabbing bracket, connect with the movable end for cylinder of saying good-bye, and vacuum chuck setting is in crawl bracket and says good-bye on bracket, and leads to
Vacuum line is crossed to be controlled to a vacuum pump.The manipulator loading and unloading system taken for elevator seat plate grab of the present embodiment, by can
Programmable controller control adsorbs the loading and unloading that crawl steel plate completes steel plate by vacuum chuck, improves production efficiency, and grab
Cylinder of saying good-bye when steel plate first stretches out the bracket rising that makes to say good-bye, and the vacuum chuck said good-bye on bracket drives the side of steel plate to tilt, grabs
It is separated between the steel plate taken and lower layer's steel plate, then grabs bracket and rise overally, so that grasping mechanism only grabs one block of steel every time
Plate guarantees that steel plate is safely operated when moving.
Optionally, the manipulator loading and unloading system taken for elevator seat plate grab in the present embodiment, further includes: thickness
Sensor 3.
The setting of thickness transducer 3 is on crawl bracket 21, the thickness of the steel plate for detecting the crawl of grasping mechanism 2.
Thickness transducer 3 and controller are electrically connected, the steel plate that the grasping mechanism 2 that thickness transducer 3 will test grabs
Thickness signal is sent to controller, and controller receives the thickness signal that thickness transducer 3 is sent, for judging that grasping mechanism 2 is grabbed
The quantity of the steel plate taken.
Thickness transducer 3 in the present embodiment, can be one of sonigauge or isotopic thickness gauge, can city
Purchase.Sonigauge is propagated in the medium by ultrasonic wave can be reflected when encountering second of medium, measure ultrasonic pulse
From transmitting to received interval time, interval time it can will be converted into thickness, and measure the thickness of steel plate.And isotopic thickness gauge
Using absorption of the substance thickness difference to the radiation principle different from scattering, that is, it can measure the thickness of steel plate.Thickness transducer 3 will
The thickness signal for the steel plate that the grasping mechanism 2 of detection grabs is sent to controller, when the thickness for the steel plate that grasping mechanism 2 grabs is bright
When the aobvious thickness for being greater than a steel plate, controller control grasping mechanism 2 grabs steel plate after putting down steel plate again, to ensure gripper
One block of steel plate of structure 2 crawls guarantees steel plate being perfectly safe in operation.
Optionally, the manipulator loading and unloading system taken for elevator seat plate grab in the present embodiment, further includes: preceding bat
Flattening mechanism 41, after clap mechanism 42, a left side clap mechanism 43 and the right side is clapped mechanism 44.
Before clap mechanism 41, after clap mechanism 42, a left side clap mechanism 43 and right side mechanism 44 of clapping is arranged at crawl bracket
On 21.
Before clap cylinder 411 and the front side board 412 of clapping before mechanism 41 includes:.
Before clap cylinder 411 be fixed at crawl bracket 21 on, front side board 412 is vertically arranged, the top of front side board 412
It is connect with the movable end for cylinder 411 of preceding clapping, the flexible drive front side board 412 of the movable end of preceding cylinder 411 of clapping leans near and far
Leading flank from steel plate, when under drive of the front side board 412 in cylinder 411 of preceding clapping close to the leading flank of steel plate, steel plate of flapping
Leading flank, so that the leading flank of the steel plate of laminated multi-layer is located at same perpendicular.Preferably, preceding mechanism 41 of clapping is equipped with two
It is a, mechanism of clapping before two 41 along steel plate length direction interval be arranged, guarantee the steel plate stacked clap before menstruation mechanism 41 beating
Afterwards, the vertical degree of steel plate leading flank.
Before clap cylinder 411 and controller be electrically connected, the flexible of cylinder 412 of clapping before controller control, that is, before controlling
Beating of the side plate 412 to steel plate leading flank.
After clap cylinder 421 and the back side panel 422 of clapping after mechanism 42 includes:.
After clap cylinder 421 be fixed at crawl bracket 21 on, back side panel 422 is vertically arranged, the top of back side panel 422
The movable end of cylinder 421 of clapping with after is connect, after clap cylinder 421 movable end flexible drive back side panel 422 by near and far
Trailing flank from steel plate, when back side panel 422 clap after cylinder 421 drive under close to steel plate trailing flank when, steel plate of flapping
Trailing flank, so that the trailing flank of the steel plate of laminated multi-layer is located at same perpendicular.Preferably, mechanism of clapping after 42 is equipped with two
A, mechanism of clapping after two 42 is arranged along the length direction interval of steel plate, guarantees the vertical degree of steel plate trailing flank after patting.
After clap cylinder 421 and controller be electrically connected, the flexible of cylinder 421 of clapping after controller control, that is, after controlling
Beating of the side plate 422 to steel plate trailing flank.
Left side mechanism 43 of clapping includes: that a left side is clapped cylinder 431 and left plate 432.
A left side clap cylinder 431 be fixed at crawl bracket 21 on, left plate 432 is vertically arranged, the top of left plate 432
It is connect with the movable end of left cylinder 431 of clapping, the flexible drive left plate 432 of the movable end of left cylinder 431 of clapping is by near and far
Steel plate is patted when under drive of the left plate 432 in left cylinder 431 of clapping close to the left side of steel plate in left side from steel plate
Left side, so that the left side of the steel plate of laminated multi-layer is located at same perpendicular.
Clap cylinder 431 and controller of a left side is electrically connected, and a controller control left side is clapped the flexible of cylinder 431, i.e. control is left
Beating of the side plate 432 to steel plate left side.
Right side mechanism 44 of clapping includes: that the right side is clapped cylinder 441 and right side plate 442.
The right side clap cylinder 441 be fixed at crawl bracket 21 on, right side plate 442 is vertically arranged, the top of right side plate 442
It is connect with the movable end of right cylinder 441 of clapping, the flexible drive right side plate 442 of the movable end of right cylinder 441 of clapping is by near and far
Right side from steel plate, when under drive of the right side plate 442 in right cylinder 441 of clapping close to the right side of steel plate, steel plate of flapping
Right side, so that the right side of the steel plate of laminated multi-layer is located at same perpendicular.
Clap cylinder 441 and controller of the right side is electrically connected, and the controller control right side is clapped the flexible of cylinder 441, i.e. control is right
Side plate 442 flaps to steel plate right side.
Since the steel plate muti-piece of crawl is stacked together, in this implementation, by mechanism 41 of preceding clapping, after clap mechanism 42,
Mechanism 43 is clapped on a left side and the front and back sides of the steel plate of laminated multi-layer and left and right side are patted by right mechanism 44 of clapping, before making steel plate
Trailing flank and left and right side are all the same always situated in the position for the steel plate that same perpendicular, grasping mechanism 2 grab every time, accordingly
, position when steel plate is laid down also is fixed, and is facilitated cutting of the subsequent cutting action to steel plate, be ensure that the cutting of steel plate
Precision.
Optionally, the manipulator loading and unloading system taken for elevator seat plate grab in the present embodiment, further includes: air pump
51 and multiple jet thrusts 52.
Air pump 51 is fixed on crawl bracket 21.
Multiple jet thrusts 52 are corresponding with multiple vacuum chucks 25, i.e., very with multiple first vacuum chucks 251 and multiple second
Suction disk 252 the sum of it is corresponding.Jet thrust 52 is arranged on crawl bracket 21 by elastic hose, is located at corresponding vacuum
The side of sucker 25.Multiple jet thrusts 52 are tightly connected by gas piping 53 and air pump 51 respectively.In the present embodiment, pass through gas
Pump 51 generates pressure air, and pressure air is delivered to jet thrust 52 through gas piping 53, right before vacuum chuck 25 adsorbs steel plate
The surface of steel plate carries out purging cleaning, guarantees airtightness when vacuum chuck 25 adsorbs steel plate, also guarantee vacuum chuck 25 not by
The iron filings damage for remaining in surface of steel plate, extends the service life of vacuum chuck 25.
Air pump 51 and controller are electrically connected, and controller controls the opening and closing of air pump 51, that is, control the purging to surface of steel plate
Cleaning.
Optionally, the manipulator loading and unloading system taken for elevator seat plate grab in the present embodiment, further includes: photoelectricity
Inductor 6.
Photoelectric sensor 6 is located at one end of crawl bracket 21.Setting is being said good-bye on bracket 23.
Photoelectric sensor 6 and controller are electrically connected, and controller is used to receive the inductive signal of photoelectric sensor 6.
Photoelectric sensor 6 is arranged in crawl bracket 21 one end and says good-bye on bracket 23, and crawl bracket 21 is being moved through
Cheng Zhong, when there is personnel to enter or have barrier on running route, photoelectric sensor 6 can incude in time, and inductive signal is sent out
It send to controller, when controller receives the inductive signal of the transmission of photoelectric sensor 6, controls Strok mechanism in time and stop movement,
To prevent personnel or equipment from coming to harm, guarantee the safety of personnel or equipment.
Optionally, as shown in figure 5, in the present embodiment, vacuum line 26 includes: vacuum supervisor 261 and multiple vacuum manifolds
262。
Vacuum supervisor 261 is seal pipe, is tightly connected with vacuum pump 24.
Vacuum supervisor 261 is equipped with multiple gas outlets, is equipped with connector at the gas outlet on vacuum supervisor 261.
Multiple vacuum manifolds 262 are connected in parallel on vacuum supervisor 261.One end of multiple vacuum manifolds 262
It is tightly connected respectively with the connector on vacuum supervisor 261, one end of multiple vacuum manifolds 262 is sealed with vacuum chuck 25 respectively
Connection, i.e., multiple first vacuum chucks 251 and multiple second vacuum chucks 252 other end with multiple vacuum manifolds 262 respectively
It is tightly connected.
Further, in the present embodiment, vacuum supervisor 261 is equipped with check valve 2611 and accumulator 2612.When system is sent out
Raw power failure, when such as powering off, check valve 2611 automatically shuts down the access of vacuum pump 24 Yu atmosphere, locks the true of accumulator 2612
Empty energy provides enough dwell times to vacuum chuck 25, it is ensured that the steel plate that vacuum chuck 25 adsorbs will not be fallen suddenly, be protected
Demonstrate,prove production safety.
Further, in the present embodiment, control valve 2621 is equipped in multiple vacuum manifolds 262.In vacuum manifold 262
Control valve 2621 is solenoid valve or hand-operated valve.When control valve 2621 is solenoid valve, solenoid valve and controller are electrically connected, and pass through control
The opening and closing of device control solenoid valve processed；When control valve 2621 is hand-operated valve, by the opening and closing for manually controlling control valve.In vacuum manifold
Control valve 2621 is set on 262, can be closed unwanted vacuum chuck when grabbing the steel plate of smaller size, also convenient pair
The air-leakage test of vacuum system.
Further, in the present embodiment, vacuum filter 2601 is equipped in vacuum supervisor 261 and vacuum manifold 262.
Vacuum filter 2601 is set on vacuum supervisor 261 and vacuum manifold 262, is filtered by vacuum filter 2601
Impurity and particle in surface of steel plate or air prevent impurity and particle to be drawn onto right in vacuum pump 24 when vacuum pump 24 works
Vacuum pump causes to damage, and extends the service life of vacuum pump.
Further, in the present embodiment, vacuum supervisor 261 is equipped with vacuum pressure sensor 2613, vacuum pressure sensing
Device 2613 and controller are electrically connected.
Vacuum pressure sensor 2613 detects the vacuum pressure in vacuum supervisor 261, and vacuum-pressure signal is sent to
Controller, controller receives the vacuum-pressure signal that vacuum pressure sensor 2613 is sent, and intuitively shows vacuum to operator
The vacuum pressure of supervisor, while when the insufficient pressure of vacuum system, controller sends alarm signal, alarm system to alarm system
System issues sound and light alarm signal.
It should be noted that in order to keep attached drawing clearer, in Fig. 1 of Figure of description, the vacuum that is connect with vacuum chuck
Branch pipe is not drawn all, and jet thrust is not also drawn all.In Fig. 5 of Figure of description, with vacuum supervisor's connection
Vacuum manifold is not also drawn all.
The loading and unloading system for being used to grab steel plate of the invention, is controlled, the course of work by PLC programmable controller are as follows:
After system boot, self-test is carried out, and grasping mechanism is made to return to original position；Vacuum system starting, grasping mechanism are begun to decline, while each
Mechanism of clapping starting, the front and back sides of the steel plate of stacking and left and right side are clapped, after vacuum chuck and steel plate contact, installation
Signal is issued close to switch on vacuum chuck, grasping mechanism stopping is run down；Vacuum chuck draws steel plate, and delay 1
Second, so that vacuum chuck is firmly drawn to steel plate；Cylinder of saying good-bye stretches out, and drives bracket rising of saying good-bye, and keeps the side of steel plate first
It tilts, then grasping mechanism moves up, and stops moving up after vertical upper limit switch closure；Grasping mechanism is transversely and horizontally
It is mobile, after laterally running to the limit switch of horizontal direction, stop transverse shifting；Grasping mechanism longitudinally moves down again, when
After grasping mechanism touches work top, stop decline, vacuum air-channel switches and is delayed one second, between steel plate and vacuum chuck
Vacuum expendable pattern；Grasping mechanism moves up, and stops moving up after vertical upper limit switch closure；After the completion of steel plate cutting, grab
It takes mechanism to repeat lowering action and draws the steel plate after cutting, and be moved into sample platform, after steel plate is placed on into sample platform, gripper
Structure is moved to original position, repeats the above process.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that fisrt feature and second feature directly contact or fisrt feature and second feature pass through intermediary mediate contact.
Moreover, fisrt feature can be fisrt feature in second feature above the second feature " above ", " above " and " above "
Directly above or obliquely above, or first feature horizontal height is merely representative of higher than second feature.Fisrt feature is in second feature " it
Under ", " lower section " and " following " can be fisrt feature and be directly under or diagonally below the second feature, or be merely representative of fisrt feature water
Flat height is lower than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc., it is intended that specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or example of anticipating.In addition, without conflicting with each other, this field
Technical staff can by the feature of different embodiments or examples described in this specification and different embodiments or examples into
Row combination and combination.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of manipulator loading and unloading system taken for elevator seat plate grab characterized by comprising Strok mechanism is grabbed
Take mechanism and controller；
The Strok mechanism includes: stroke bracket, first crossbeam, horizontal mobile mechanism and elevating mechanism；
The first crossbeam is horizontally set on the stroke bracket；
The horizontal mobile mechanism includes: sliding block and horizontal motor；
The sliding block is movably disposed on the first crossbeam, and the horizontal motor is for driving the sliding block along described the
One cross beam movement；
The elevating mechanism includes: stringer and lifting motor；
The stringer is movably disposed on the sliding block, and the lifting motor is for driving the relatively described sliding block of the stringer
It moves up and down；
The bottom end of the stringer is arranged in the grasping mechanism；
The grasping mechanism includes: crawl bracket, cylinder of saying good-bye, bracket of saying good-bye, vacuum pump and multiple vacuum chucks；
The vacuum pump is arranged on the crawl bracket；
The multiple vacuum chuck includes: multiple first vacuum chucks and multiple second vacuum chucks；
The bottom of the crawl bracket is arranged in the multiple first vacuum chuck；
The cylinder of saying good-bye is arranged on the crawl bracket；
One end of the crawl bracket, and the movable end of the say good-bye bracket and the cylinder of saying good-bye is arranged in the bracket of saying good-bye
Connection, the cylinder of saying good-bye is for driving the bracket lifting of saying good-bye；
The bottom of the bracket of saying good-bye is arranged in the multiple second vacuum chuck, with one lifting of bracket of saying good-bye；
The multiple first vacuum chuck is connect by vacuum line with the vacuum pump with the multiple second vacuum chuck, institute
Multiple first vacuum chucks and the multiple second vacuum chuck are stated for drawing steel plate；
The Strok mechanism and the grasping mechanism are electrically connected with the controller.
2. the manipulator loading and unloading system according to claim 1 taken for elevator seat plate grab, which is characterized in that also
It include: thickness transducer；
The thickness transducer is arranged on the crawl bracket, the thickness of the steel plate for detecting crawl；
The thickness transducer and the controller are electrically connected, and the thickness signal that the thickness transducer will test is sent to institute
Controller is stated, the controller is used to receive the thickness signal that the thickness transducer is sent.
3. the manipulator loading and unloading system according to claim 1 taken for elevator seat plate grab, which is characterized in that also
Clap before including: mechanism, after clap mechanism, a left side clap mechanism and the right side is clapped mechanism；
Clap before described mechanism, it is described after clap mechanism, the left side clap mechanism and right side mechanism setting of clapping is grabbed described
It takes on bracket；
Mechanism of clapping before described claps cylinder and front side board before including:；
The front side board with it is described before cylinder of clapping connect, the front side board is used to clap the leading flank of steel plate；
Clap before described cylinder and the controller is electrically connected, the controller be used to control it is described before clap the stretching of cylinder
Contracting；
Mechanism of clapping after described claps cylinder and back side panel after including:；
The back side panel with it is described after cylinder of clapping connect, the back side panel is used to clap the trailing flank of steel plate；
Clap after described cylinder and the controller is electrically connected, the controller be used to control it is described after clap the stretching of cylinder
Contracting；
Left side mechanism of clapping includes: that a left side is clapped cylinder and left plate；
The left plate and the left side cylinder of clapping are connect, and the left plate is used to clap the left side of steel plate；
Clap cylinder and the controller of the left side is electrically connected, and the controller is used to control the left side and claps the stretching of cylinder
Contracting；
Right side mechanism of clapping includes: that the right side is clapped cylinder and right side plate；
The right side plate and the right side cylinder of clapping are connect, and the right side plate is used to clap the right side of steel plate；
Clap cylinder and the controller of the right side is electrically connected, and the controller is used to control the right side and claps the stretching of cylinder
Contracting.
4. the manipulator loading and unloading system according to claim 1 taken for elevator seat plate grab, which is characterized in that also
It include: air pump and multiple jet thrusts；
The air pump is arranged on the crawl bracket；
The multiple jet thrust is corresponding with the multiple vacuum chuck, is arranged on the crawl bracket, and the multiple jet
Head is connect by gas piping with the air pump, and the jet thrust is for purging the surface of steel plate；
The air pump and the controller are electrically connected, and the controller is used to control the opening and closing of the air pump.
5. the manipulator loading and unloading system according to claim 1 taken for elevator seat plate grab, which is characterized in that also
It include: photoelectric sensor；
The photoelectric sensor setting is said good-bye on bracket described；
The photoelectric sensor and the controller are electrically connected, and the controller is used to receive the induction of the photoelectric sensor
Signal.
6. the manipulator loading and unloading system according to claim 1 taken for elevator seat plate grab, which is characterized in that institute
Stating vacuum line includes: vacuum supervisor and multiple vacuum manifolds；
The vacuum supervisor connect with the vacuum pump；
One end of the multiple vacuum manifold is responsible for the vacuum connects in parallel；
The multiple vacuum chuck is connect with the other end of the multiple vacuum manifold respectively.
7. the manipulator loading and unloading system according to claim 6 taken for elevator seat plate grab, which is characterized in that institute
It states vacuum supervisor and is equipped with check valve and accumulator.
8. the manipulator loading and unloading system according to claim 6 taken for elevator seat plate grab, which is characterized in that institute
It states and is equipped with control valve in multiple vacuum manifolds.
9. the manipulator loading and unloading system according to claim 6 taken for elevator seat plate grab, which is characterized in that institute
It states and is equipped with vacuum filter in vacuum supervisor and the vacuum manifold.
10. the manipulator loading and unloading system according to claim 6 taken for elevator seat plate grab, which is characterized in that
The vacuum supervisor is equipped with vacuum pressure sensor；
The vacuum pressure sensor and the controller are electrically connected.
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| CN201910507472.9A CN110076467B (en) | 2019-06-12 | 2019-06-12 | A unloading system on manipulator for elevator seat steel sheet snatchs |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910507472.9A CN110076467B (en) | 2019-06-12 | 2019-06-12 | A unloading system on manipulator for elevator seat steel sheet snatchs |
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| CN110076467B CN110076467B (en) | 2024-03-26 |
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| CN110370302A (en) * | 2019-08-22 | 2019-10-25 | 中车青岛四方车辆研究所有限公司 | Manipulator and lithium capacitor plug-in sheet machine |
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| CN111232641A (en) * | 2020-02-28 | 2020-06-05 | 深圳市精实机电科技有限公司 | Automatic new energy battery formation test logistics system |
| CN111731844A (en) * | 2020-06-22 | 2020-10-02 | 蒙娜丽莎集团股份有限公司 | Ceramic large plate brick stacking device |
| CN112390037A (en) * | 2020-11-06 | 2021-02-23 | 杭州老板电器股份有限公司 | Sheet separating device and sheet separating method thereof |
| CN113335924A (en) * | 2021-06-15 | 2021-09-03 | 上海发网云物流科技有限公司 | Conveying device for material frame |
| CN113401657A (en) * | 2021-06-15 | 2021-09-17 | 上海发网云物流科技有限公司 | Conveying mechanism for material frame |
| CN114368623A (en) * | 2022-01-27 | 2022-04-19 | 深圳市尊绅投资有限公司 | Large-angle identification fishing and grabbing device for glass substrate |
| CN117415797A (en) * | 2023-12-18 | 2024-01-19 | 广州市嘉品电子科技有限公司 | Transfer manipulator device |
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| CN117415797B (en) * | 2023-12-18 | 2024-03-29 | 广州市嘉品电子科技有限公司 | Transfer manipulator device |
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