CN110642023A - Feeding and discharging device and method for separating plates - Google Patents

Feeding and discharging device and method for separating plates Download PDF

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Publication number
CN110642023A
CN110642023A CN201910874598.XA CN201910874598A CN110642023A CN 110642023 A CN110642023 A CN 110642023A CN 201910874598 A CN201910874598 A CN 201910874598A CN 110642023 A CN110642023 A CN 110642023A
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CN
China
Prior art keywords
plate
adsorption
conveyor belt
mechanical
lifting platform
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910874598.XA
Other languages
Chinese (zh)
Inventor
张勇
谢继明
陆文杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anhui Sino Furniture Co Ltd
Original Assignee
Anhui Sino Furniture Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Anhui Sino Furniture Co Ltd filed Critical Anhui Sino Furniture Co Ltd
Priority to CN201910874598.XA priority Critical patent/CN110642023A/en
Publication of CN110642023A publication Critical patent/CN110642023A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B5/00—Cleaning by methods involving the use of air flow or gas flow
    • B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G13/00—Roller-ways
    • B65G13/02—Roller-ways having driven rollers
    • B65G13/06—Roller driving means
    • B65G13/07—Roller driving means having endless driving elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • B65G41/001—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base
    • B65G41/003—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base mounted for linear movement only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/88—Separating or stopping elements, e.g. fingers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
    • B65G59/045—De-stacking from the top of the stack by suction or magnetic devices with a stepwise upward movement of the stack
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0282—Wooden articles, e.g. logs, trunks or planks

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)

Abstract

A plate feeding device and a plate feeding method are characterized in that the device comprises a mechanical gripper, a lifting table, a conveying belt and an operation table; the mechanical gripper is arranged on the side surface of the lifting platform and comprises an adsorption device and a shaking device; the adsorption device comprises an exhaust port and an adsorption plate; the two adsorption plates are arranged in parallel, the adsorption plates are driven by cylinders, and the cylinders of the two adsorption plates are independent; the exhaust port is arranged on the adsorption plate; the shaking times and the shaking time of the shaking device are set through an operation console; the lifting platform comprises a blocking device; the blocking device is arranged between the lifting platform and the processing conveying belt and comprises supporting legs, a rubber plate and blocking rollers; the rubber plate is arranged between the supporting legs; the blocking roller is arranged between the supporting legs; the operation table is electrically connected with the mechanical gripper, the lifting table and the conveyor belt; the invention can prevent two or more plates from being adsorbed.

Description

Feeding and discharging device and method for separating plates
Technical Field
The invention relates to plate processing, in particular to a feeding and discharging device and a method for separating plates.
Background
At present, the automation degree in life and production is higher and higher, the field of plate processing is no exception, compared with the early-stage completion of plate processing by carpenters through chiseling, cutting and planing, the manual work is usually replaced by an automatic flow production line at present, one manual work has the condition of inconvenient operation when operating larger plates, and the second manual work has low efficiency. However, the existing plate processing still has problems, especially when the plates are loaded, because the surfaces of some processed plates are smooth, when the plates are stacked, a vacuum environment is easily formed between the plates, so that two or more plates can be grabbed in the process of grabbing the plates by a mechanical gripper, and a processing machine can only deal with the situation of processing a single plate, so that the processing link is not allowed. In addition, the plates inevitably generate sawdust in the processing process, and the general plate flow processing adopts manual treatment sawdust or no treatment sawdust. If the sawdust is manually treated, a large potential safety hazard exists; if the wood chips are not processed, the processing hidden trouble is relatively large.
In addition, in the process of plate blanking, because the plate just finishes the processing process, the plate also needs to be cleaned in time, and the surface scraping or damage caused by the waste materials formed by processing in the stacking process of the plate is prevented. Meanwhile, during the blanking process of the plate, as the plate reaches the tail end of the device, the plate reaches the tail end, but the conveyor belt still rolls, so that the contact surface of the plate and the conveyor belt is worn.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides the feeding and discharging device and method for separating plates, which are simple in structure and convenient to use.
A plate loading and unloading device comprises a mechanical gripper, a lifting table, a conveying belt and an operation table;
the conveying belt comprises a ground conveying belt, a lifting platform conveying belt, a processing conveying belt and a multi-section conveying belt; the ground conveyor belt is arranged on the ground, and the tail end of the ground conveyor belt is connected with the lifting platform conveyor belt; the lifting platform conveying belt is arranged at the top of the lifting platform and is a part of the lifting platform; the processing conveyor belt is arranged between the plate processing device and the lifting platform; the multi-section type conveying belt is arranged in a plate blanking area;
the mechanical grippers are arranged on the side face of the lifting platform, and the other mechanical gripper is arranged at the tail end of the multi-section conveyor belt; the mechanical gripper comprises an adsorption device and a shaking device; the adsorption device comprises an exhaust port and an adsorption plate; the two adsorption plates are arranged in parallel, the adsorption plates are driven by cylinders, and the cylinders of the two adsorption plates are independent; the exhaust port is arranged on the adsorption plate; the shaking times and the shaking time of the shaking device are set through an operation console;
the lifting platform comprises a blocking device; the blocking device is arranged between the lifting platform and the processing conveying belt and comprises supporting legs, a rubber plate and blocking rollers; the rubber plate is arranged between the supporting legs; the blocking roller is arranged between the supporting legs;
the multi-section conveyor belt comprises a frame, a power transmission device and a plate detection and adjustment mechanism; the power transmission device and the plate detection and adjustment mechanism are arranged on the frame; the multi-section type conveyor belt comprises a first conveyor belt and a second conveyor belt, wherein the first conveyor belt and the second conveyor belt both comprise a front power area and a rear power area;
the operation panel is electrically connected with the mechanical gripper, the lifting platform and the conveyor belt.
Further, the plate detecting and adjusting mechanism comprises a counting device, a trigger switch and a side leaning and regulating device; the counting device is arranged at the boundary of the front power area and the rear power area of the first conveyor belt; the trigger switch is arranged at the tail end of the frame, and the side leaning regulator is arranged at the tail end of the frame; the trigger switch is electrically connected with the side leaning regulator and the manipulator.
Furthermore, the mechanical gripper also comprises a gripper base, a mechanical big arm and a mechanical small arm; one end of the large mechanical arm is arranged on the gripper base, a first rotating disc is arranged between the large mechanical arm and the gripper base, and a small mechanical arm is arranged at the other end of the large mechanical arm; and the other end of the mechanical small arm is provided with an adsorption device, and a second rotary table is arranged between the adsorption device and the mechanical small arm.
Furthermore, the adsorption device comprises a connecting plate, a fixed table, a power set, an adsorption plate rail and an adsorption plate;
the connecting plate is arranged between the fixed table and the mechanical small arm, the fixed table is arranged in parallel with the connecting plate, and a connecting column is arranged between the fixed table and the connecting plate; the connecting column is of a circular tube nested structure, a circular tube with a smaller radius can slide in a circular tube with a larger radius, and a damping spring is arranged on the periphery of the connecting column;
the power unit comprises a cylinder, a vacuum pump and an electric control wire box; the electrical control wire box is electrically connected with the operating platform; the vacuum pump comprises an air suction end and an air exhaust end, a guide pipe is arranged between the air suction end and the adsorption plate, and a guide pipe is arranged between the air exhaust end and the air exhaust port;
the adsorption plate rail comprises a slide rail and a slide block; the two sliding rails are arranged on the lower surface of the fixed platform in parallel; the adsorption plate is perpendicular to the slide rail, and a slide block is arranged between the adsorption plate and the slide rail; the number of the sliding blocks is four, each adsorption plate is provided with two sliding blocks, and the two sliding blocks of the same adsorption plate are respectively positioned on the two sliding rails; each adsorption plate is provided with two cylinders for driving, and the two cylinders are arranged in parallel; the interior of the adsorption plate is hollow, and the lower surface of the adsorption plate is provided with adsorption holes and a sponge layer; the adsorption holes are communicated with the outside of the adsorption plate with the hollow structure inside the adsorption plate.
Furthermore, the lifting platform also comprises a lifting platform conveyor belt and a lifting device; the lifting device comprises a lifting platform base, a lifting support rod, a lifting cylinder and a hydraulic station; the lifting support rod is arranged between the lifting platform base and the lifting platform conveyor belt; the lifting cylinder and the hydraulic station are arranged on the lifting platform base.
Furthermore, the lifting platform base is provided with a mechanical limiting block; the mechanical limiting block comprises a metal bottom block and a rubber top block, and the rubber top block is arranged above the metal bottom block; the lifting platform base is also provided with a turnover safety device; the overturning safety device comprises a safety plate and a safety block; the number of the safety blocks is two, and the two safety blocks are arranged in parallel; the safety plate is arranged between the two safety blocks; a connecting shaft is arranged between the safety plate and the two safety blocks.
Furthermore, the blocking device is provided with a first photoelectric sensing device; the first photoelectric sensing device is electrically connected with the operating platform; the first photoelectric sensing device is consistent with the horizontal height of the blocking roller; the ground conveyor belt is provided with a second photoelectric sensing device, and the first photoelectric sensing device and the second photoelectric sensing device are electrically connected with the operating platform.
Further, a method for loading and unloading a plate by using the device comprises the following steps:
the method comprises the following steps: the operation panel receives a starting-up instruction and enters a main picture of the feeding system;
step two: the operation table receives input plate parameter options, base plate parameter options, stacking parameter options and adsorption plate options;
step three: receiving a page switching instruction, and switching from a main picture to a parameter setting picture;
step four: receiving a vacuum removing mode instruction;
step five: receiving a material taking X-axis forward pushing distance, a material taking Y-axis side pushing distance or a shaking frequency instruction;
step six: receiving a starting instruction of the current position of the robot or a resetting starting instruction of the robot, starting the mechanical gripper, and controlling the working mode of the mechanical gripper according to the parameters input in the second step and the fifth step;
the blanking method comprises the following steps:
the method comprises the following steps: the first plate is conveyed to the front power area through the counting device, and the second plate is conveyed to the rear power area;
step two: the front power area roller stops rotating, and the rear power area roller continues rotating;
step three: the second plate is transmitted to the front power area through the counting device;
step four: starting a front power area roller, and conveying the first plate and the second plate to the tail end of the multi-section conveyor belt;
step five: the trigger switch senses that the first plate and the second plate are conveyed to the tail end of the multi-section type conveying belt, the roller in the front power area is stopped, and the side leaning and regulating device is started;
step six: after the position of the first plate and the position of the second plate are adjusted by the side leaning and adjusting device, starting a mechanical gripper to grip the plates, and moving and stacking the plates;
step seven: after the plates are stacked, the air outlet of the mechanical gripper is started, and the plates are cleaned.
Further, the main picture comprises a plate parameter option, a base plate parameter option, a stacking parameter option, a mechanical gripper option and an adsorption plate option; the plate parameter options comprise input frames of plate length, width and thickness; the pad parameter options comprise input boxes of pad length and thickness; the stacking parameter options comprise input frames of stacking line number and stacking column number; the options of the adsorption plate comprise closing of the adsorption plate and opening of the adsorption plate, and the opening of the adsorption plate is a set value for opening the adsorption plate; the feeding mode options comprise setting of a working mode of the mechanical gripper; the mechanical gripper options comprise a robot current position starting button, a robot pause button, a robot reset starting button, a robot speed input frame and a robot board placing delay input frame; the adsorption plate option comprises a first clamp closing button and a second clamp closing button.
Further, the working mode of the mechanical gripper comprises forward or side pushing of the mechanical gripper and shaking of the mechanical gripper; if the operating platform receives a forward pushing vacuum instruction, the mechanical gripper is controlled to move forward or laterally by a set distance, and the set distance is a material taking X-axis forward pushing distance and a material taking Y-axis lateral pushing distance in the fifth step; and if the operating platform does not receive the vacuum removing instruction, controlling the mechanical gripper to shake for a set number of times, wherein the set number of times is the shaking number of times in the step five.
The invention has the beneficial effects that:
according to the invention, the full automation of the separation and feeding process of the plates is realized, the production efficiency is greatly improved, and the labor cost is reduced.
A blocking device is arranged and matched with a mechanical gripper to transversely move or laterally push for a set distance, so that the separation of the feeding plates is realized; or the separation of the upper material plate is realized through the shaking of the mechanical hand grip.
Set up the gas vent, carry out the blowdown of saw-dust to panel between panel is processed, prevent effectively that the saw-dust from producing the influence to the processing of panel.
Set up photoelectric sensing device help elevating platform and align, guarantee that panel can be steady transmit, whether photoelectric sensing device can also help the operation panel discernment lift platform on possess panel simultaneously, whether highly unanimous with blocking device of panel simultaneously.
The turnover safety device is arranged to provide guarantee for maintenance personnel to maintain.
Two adsorption plates set up independent cylinder, can realize that two adsorption plates open, can adsorb two blocks of panels simultaneously, further improve production efficiency.
Set up the condition that the wearing and tearing appear in panel at the unloading in-process of multistage formula conveyer belt.
Drawings
FIG. 1 is an overall structural view of the present invention;
FIG. 2 is a structural view of a mechanical gripper of the present invention;
FIG. 3 is a left side view of the adsorption unit of the present invention;
FIG. 4 is a front view of an adsorption device of the present invention;
FIG. 5 is a front view of the lift table of the present invention;
FIG. 6 is a structural view of the elevating platform of the present invention;
FIG. 7 is a right side view of the lift table of the present invention;
FIG. 8 is a lower right view of the lift platform of the present invention;
FIG. 9 is a view of the conveyor belt structure of the elevating platform of the present invention;
FIG. 10 is a schematic diagram of the multi-segment conveyor belt and mechanical gripper of the present invention;
FIG. 11 is a top view of the multi-section conveyor belt of the present invention;
FIG. 12 is a transmission structure diagram of the multi-section conveyor belt of the present invention;
FIG. 13 is a console home screen;
FIG. 14 is a console parameter settings screen;
FIG. 15 is a console manual view;
FIG. 16 is a flow chart of the console of the present invention.
The attached drawings indicate the following:
the mechanical gripper 1, the gripper base 11, the first rotating disc 12, the large mechanical arm 13, the small mechanical arm 14, the second rotating disc 15, the adsorption device 16, the connecting plate 161, the fixed table 162, the cylinder 163, the vacuum pump 164, the electrical control wire box 165, the adsorption plate rail 166, the adsorption plate 167, the exhaust port 168, the lifting table 2, the lifting table conveyor belt 21, the lifting device 22, the lifting table base 221, the lifting support rod 222, the lifting cylinder 223, the hydraulic station 224, the mechanical limit block 225, the overturning safety device 226, the blocking device 23, the supporting feet 231, the rubber plate 232, the blocking roller 233, the ground conveyor belt 3, the processing conveyor belt 4, the multi-section conveyor belt 5, the power transmission device 51, the transmission shaft 511, the shaft fixing bearing 512, the transmission bar 513, the plate detecting and adjusting mechanism 52, the counting device 521, the trigger switch 522, the side leaning regulation device 523, the first conveyor belt 53, the second conveyor belt 54, A rear power section 56.
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific embodiments.
Example 1:
as shown in fig. 1, a plate feeding device includes a mechanical gripper 1, a lifting table 2, a conveyor belt, and an operation table. The plates are conveyed to the lifting platform 2 by the conveying belt arranged on the ground in an overlapped stacking mode, the plates are converted into a flat mode from the overlapped stacking mode through the matching of the lifting platform 2 and the mechanical gripper 1, and the plates are transferred to the conveying belt arranged on the frame from the lifting platform 2.
As shown in fig. 1, the conveyor belt includes a ground conveyor belt 3, a lifting table conveyor belt 21, a processing conveyor belt 4, and a multi-section conveyor belt 5. The ground conveyor belt 3 is arranged on the ground, the tail end of the ground conveyor belt 3 is connected with the lifting platform conveyor belt 21, and the ground conveyor belt 3 is mainly used for conveying the overlapped stacked plates to the lifting platform conveyor belt 21. The elevating platform conveyor belt 21 is disposed on the top of the elevating platform 2 and is a part of the elevating platform 2. The lifting platform conveyor belt 21 is used for being matched with the mechanical gripper 1 to lift overlapped stacked plates, and the mechanical gripper 1 transfers the plates to the processing conveyor belt 4. The processing conveyer belt 4 is arranged between the plate processing device and the lifting platform 2, and the processing conveyer belt 4 is used for conveying the plates transferred by the mechanical gripper to the processing device. The multi-section conveying belt 5 is arranged in a plate blanking area.
As shown in fig. 1-2, the mechanical gripper 1 is arranged on a side surface of the lifting table 2, the mechanical gripper 1 includes a gripper base 11, a mechanical large arm 13, a mechanical small arm 14 and an adsorption device 16, and the mechanical large arm 13 is arranged on the gripper base 11; the mechanical small arm 14 is connected with the mechanical big arm 13; the adsorption device 16 is arranged at one end of the mechanical small arm 14; a first rotating disc 12 is arranged at the connecting part of the gripper base 11 and the mechanical large arm 13; the second rotary table 15 is arranged at the connecting part of the adsorption device 16 and the mechanical small arm 14. The mechanical big arm 13 can rotate 360 degrees on the gripper base 11, the adsorption device 16 can rotate 360 degrees on the mechanical small arm 14, and the turntable is arranged to ensure that the mechanical gripper 1 can flexibly move in all directions. In this embodiment, mechanical tongs 1 adopts absorbent mode to snatch panel, compares other snatching modes, for example mechanical structure's snatching, and the absorption formula is snatched and can be avoided causing the damage to panel to the at utmost.
As shown in fig. 1 and 3 to 4, the suction device 16 includes a connection plate 161, a fixed table 162, a power unit, a suction plate 167, a rail 166, and a suction plate 167. The connecting plate 161 is arranged between the fixed table 162 and the mechanical forearm 14, the fixed table 162 and the connecting plate 161 are arranged in parallel, four connecting columns are arranged between the fixed table 162 and the connecting plate 161, and the connecting columns are arranged on the upper surface of the fixed table 162 and connected with four corners of the lower surface of the connecting plate 161. The whole spliced pole is the nested structure of two root circle pipes, and the pipe that the radius is less can slide in the inside of the great pipe of radius, makes the spliced pole possess flexible ability. The spliced pole is provided with damping spring, damping spring cup joints in the outside of spliced pole, makes the spliced pole possess the flexible ability of elasticity, at the in-process of 1 adsorption plate 167 materials of mechanical tongs, can not lead to causing irreversible damage to the contact surface of panel because of the too big power that presses down of mechanical tongs 1.
The rails 166 of the suction plate 167 include slide rails and sliders as shown in fig. 3 to 4. The number of the slide rails is two, and the two slide rails are arranged on the lower surface of the fixed platform 162 in parallel. The four sliding blocks are uniformly arranged on the two sliding rails, each sliding rail is provided with two sliding blocks, and the sliding blocks can freely slide in the direction parallel to the sliding rails. Compared with a slide rail provided with a slide block, the slide block is more firmly connected with the adsorption plate 167 in the embodiment. The adsorption plate 167 is two, two adsorption plate 167 parallel arrangement, and adsorption plate 167 sets up with the slide rail is perpendicular, sets up the slider between adsorption plate 167 and the slide rail, and every adsorption plate 167 sets up two sliders, and two sliders of same adsorption plate 167 are located two slide rails respectively. The two suction plates 167 are driven by respective cylinders 163. Compared with the common mechanical gripper which is only provided with one adsorption plate 167 with a fixed area or two adsorption plates 167 driven by the common air cylinder 163, the embodiment can realize the condition that each adsorption plate 167 operates independently and has more strain.
As shown in fig. 3 to 4, the cylinder 163 is disposed on the lower surface of the fixing table 162. The number of the cylinders 163 is four, and the cylinders are arranged in parallel; the air cylinder 163 is disposed in parallel with the rail. The cylinder 163 includes a fixed end and an extended end. The fixed end of the cylinder 163 is connected with the fixed table 162; the extending end of the cylinder 163 is connected to the suction plate 167. The extension end of two cylinders 163 is connected to an adsorption plate 167, compares an adsorption plate 167 and connects a cylinder 163, and an adsorption plate 167 sets up two cylinders 163 and can make the cylinder 163 act on the force distribution of adsorption plate 167 even to the direction that adsorption plate 167 receives cylinder 163 resultant force is always on a parallel with the track, avoids adsorption plate 167 and orbital angle to take place the skew. The air cylinders 163 of the different suction plates 167 are parallel to each other and opposite in direction. The adsorption plate 167 is a strip-shaped metal plate, and the inside of the adsorption plate 167 is hollow and used for conducting air flow; the two ends of the absorption plate 167 are provided with connection pipes connected to the guide pipes. The lower surface of the adsorption plate 167 is provided with adsorption holes. The adsorption holes are uniformly distributed and communicated with the hollow structures in the adsorption plate 167, and the adsorption holes are communicated with the guide pipe connected to the adsorption plate 167 through the hollow structures in the adsorption plate 167 and the connecting pipes at the two ends of the adsorption plate 167. In operation, the plate is attracted to the lower surface of the suction plate 167 by the air pressure. The strip-shaped adsorption plate 167 can be in contact with the plate as large as possible when adsorbing the plate 167, so that the reaction force of the plate on the adsorption plate 167 is distributed more uniformly and dispersedly, and the adsorption force of the adsorption plate 167 is enhanced by changing the phase. The adsorption plate 167 is provided with a sponge layer, the sponge layer is arranged on the periphery of the lower surface of the adsorption plate 167, the purpose is to play a certain buffering role in the process of grabbing the plate, and the plate can be prevented from being scratched on the surface of the plate through the contact of the sponge layer with the plate.
As shown in fig. 3 to 4, the power pack includes a cylinder 163, a vacuum pump 164, and an electrical control box 165. The electrical control line box 165 is electrically connected with the console, and the electrical control line box 165 can receive and convert the operating instructions of the console, and transmit the converted operating instructions to the corresponding parts of the mechanical gripper 1, so as to control the mechanical gripper 1 to perform corresponding actions. An electric control wire box 165 is provided on the upper surface of the connection plate 161. The vacuum pump 164 is disposed on a side of the upper surface of the fixing table 162, and the side is parallel to the slide rail, so that the vacuum pump 164 is disposed between the two adsorption plates 167, and the distance between the vacuum pump 164 and the two adsorption plates 167 is the same. The vacuum pump 164 includes a pumping end and an exhaust end, and a conduit is provided between the pumping end and the adsorption plate 167.
As shown in fig. 3 to 4, since wood chips are easily generated during the processing of the board, the wood chips not only affect the adsorption force of the mechanical gripper, but also affect the processing of the board, and may seriously block the conduit of the vacuum pump, the side surface of the adsorption plate 167 is provided with the exhaust port 168. The side surfaces of the adsorption plate 167 may be a front side, a rear side, a left side, and a right side; an exhaust port 168 is provided in one of the suction plates 167. A conduit is provided between the exhaust end of the vacuum pump 164 and the exhaust port 168, and the exhaust port 168 is exhausted and closed according to the operating state of the vacuum pump 164. The design of the exhaust port 168 takes full advantage of existing devices. In this embodiment, before the absorption plate 167 absorbs the plate 167, the exhaust holes are activated to blow off the wood chips on the plate by the wind pressure generated by the exhaust holes.
The mechanical gripper further comprises a shaking device, and the working principle of the shaking device is as follows: the mechanical hand 1 acts on each movable joint, for example, the second rotary table 15 between the connecting plate 161 and the mechanical arm 14 rotates left and right within a set angle, and the action of each joint can be transmitted to the adsorption device 16 through the connection relation of the whole mechanical hand, so that the adsorption device 16 shakes, and the plates which are bonded together are separated through shaking. The number of shakes and the shake time are set by the console.
As shown in fig. 1 and 5, the lifting platform 2 includes a lifting platform conveyor belt 21, a lifting device 22, and a blocking device 23; the lifting platform conveyor belt 21 is arranged above the lifting device 22; the blocking device 23 is arranged at the tail end of the lifting platform conveyor belt 21.
As shown in fig. 9, the elevating platform conveyor 21 includes a conveyor track, a chain, a sprocket, a motor, and a drum. The rollers are arranged on the conveyor belt track. One side of the roller is provided with a chain wheel which is a double-row chain wheel and comprises an inner chain wheel and an outer chain wheel. And a chain is arranged between the adjacent rollers. The chain of each roller and the chain of the previous roller and the chain of the next roller are respectively arranged on the inner chain wheel and the outer chain wheel of the roller. The roller is driven by a motor and is driven by a chain. The motor is arranged below the conveyor belt track.
As shown in fig. 1, 6 and 7, the lifting device 22 includes a lifting table base 221, a lifting support rod 222, a lifting cylinder 223 and a hydraulic station 224. The elevating platform base 221 is disposed in the rectangular pit, and since the elevating device 22 is disposed below the elevating platform conveyor belt 21, the height of the elevating platform conveyor belt 21 is higher than that of the floor conveyor belt 3. If the elevating platform conveyor belt 21 is desired to be flush with the floor conveyor belt 3, the elevating platform base 221 is required to be lower than the floor, so the elevating platform base 221 is disposed in the rectangular pit.
As shown in fig. 5, 6 and 7, the lifting support bar 222 is disposed between the lifting platform conveyor belt 21 and the lifting platform base 221, and includes two sets of cross support bars, and the two sets of cross support bars are arranged in a mirror image manner. The cross brace rod is formed by two straight rods in a crossed mode and has four end points, a hinge block is arranged at the crossed contact position of the two straight rods, and the hinge block is arranged in the middle of the two straight rods. Two straight rods of the cross brace rod can rotate around the hinge block, and the angle between the two straight rods is adjusted. Two groups of crossed support rods are arranged below the lifting platform conveyor belt 21 in a mirror image mode. Taking a group of crossed supporting rods as an example, four end points of the group of crossed supporting rods comprise two fixed ends and two movable ends. The two fixed ends are arranged on two different straight rods of the group of crossed supporting rods, the two fixed ends are positioned on the same longitudinal plane, and the other two end points of the crossed supporting rods are movable ends. One of the two fixed ends is hinged with an ear plate arranged on the lifting platform conveyor belt 21, and the other fixed end is hinged with an ear plate arranged on the lifting platform base 221. And the two movable ends are provided with rollers. And a connecting rod is arranged between the two groups of crossed supporting rods. The connecting rods are perpendicular to the cross supporting rods and are five in number, and each connecting rod comprises a middle connecting rod, two upper connecting rods and two lower connecting rods. The middle connecting rod is arranged at a position close to the cross contact of the two straight rods, and the middle connecting rod is deviated to the movable end above; the upper connecting rods are respectively arranged at the parts close to the movable end and the fixed end above the crossed supporting rods; the lower connecting rods are respectively arranged at the parts close to the movable end and the fixed end below the crossed supporting rods. The middle connecting rod and the lower connecting rod close to the movable end are respectively arranged on the two straight rods of the group of crossed supporting rods.
As shown in fig. 5 to 8, a sliding groove is formed at a contact portion of the lower surface of the lifting platform conveyor belt 21 and the roller. The spout is "U" type groove, is made by three boards an organic whole, including bottom plate and riser. The bottom plate is disposed on the lower end surface of the lifting table conveyor belt 21, and preferably, the bottom plate and the lifting table conveyor belt 21 may be connected by a screw thread. The riser totally two, two riser parallel arrangement in the both sides of bottom plate, the riser is perpendicular with the bottom plate. The inside draw runner that sets up of spout, the opening direction of spout is downward. The draw runner is used for contacting with the gyro wheel, and draw runner and spout fixed connection can adopt threaded connection as preferred, can adopt common screw thread to be connected draw runner and spout and the bottom of elevating platform conveyer belt 21. The threaded connection part of the sliding strip is sunken downwards, so that the head of the connecting piece can be arranged at the sunken part when in connection, the surface of the sliding strip is smooth, and the movement of a roller contacted with the sliding strip is not influenced. A slide bar is arranged at the contact part of the lifting platform base 221 and the roller at the movable end. Because the width of the bottom of the lifting platform conveyor belt 21 is greater than the distance between the two groups of crossed support rods and the movable ends above the two groups of crossed support rods, the sliding grooves are arranged for limiting the movement track of the rollers, and the lifting platform conveyor belt 21 is prevented from generating position deviation. The purpose of the slide bars is to increase the friction between the rollers and the elevator belt 21 or between the rollers and the elevator base 221, thereby improving the reliability of the device.
As shown in fig. 6 to 7, two lifting cylinders 223 are disposed between the middle link and the lower link near the movable end. The lifting cylinders 223 are arranged in parallel, and one ends of the lifting cylinders 223 are hinged with the lower connecting rods close to the movable ends; the other end of the lifting cylinder 223 is hinged with a lug plate arranged on the middle connecting rod. The lift base 221 is provided with a hydraulic station 224, which hydraulic station 224 comprises an oil tank and a motor. The hydraulic station 224 is used for providing power for the lifting cylinder 223, and the piston rod of the lifting cylinder 223 acts to drive the lug plate of the middle connecting rod to rotate, so that the angle between two straight rods of one group of crossed supporting rods is changed, and the lifting of the lifting table conveyor belt 21 is adjusted.
As shown in fig. 6 to 7, mechanical limit blocks 225 are disposed at four corners of the lifting platform base 221, and the mechanical limit blocks 225 are in threaded connection with the lifting platform base 221. The mechanical limiting block 225 comprises a metal bottom block and a rubber top block, and the rubber top block is arranged above the metal bottom block. The mechanical stopper 225 can provide a certain supporting and buffering function when the elevator belt 21 descends to the lowest position and contacts the elevator base 221. The outer side of the lifting platform base 221 is provided with a turnover safety device 226. The number of the turning safety devices 226 is two, and the two turning safety devices 226 are symmetrically arranged on the outer side of the lifting platform base 221 close to the roller. The roll-over safety device 226 includes a safety plate, a safety block. The height of the safety block is higher than that of the lifting platform base 221, and the two safety blocks are arranged on the outer side of the lifting platform base 221 close to the roller in parallel. The safety plate is arranged between the two safety blocks. A connecting shaft is arranged between the safety plate and the two safety blocks, and the safety plate can rotate around the connecting shaft. The height of the connecting shaft is higher than that of the lifting platform base 221, so that the safety block can be turned into the lifting platform base 221. When the lifting platform conveyor belt 21 is maintained, the lifting platform conveyor belt 21 rises, the roller moves towards the inner side of the lifting platform 2, the safety block is overturned into the lifting platform base 221, the roller can be clamped, the falling accident of the lifting platform conveyor belt 21 during maintenance is prevented, and the safety of the device is improved.
As shown in fig. 1, 5, and 7, the blocking device 23 is disposed between the lifting platform 2 and the processing conveyor 4, and the blocking device 23 includes a supporting foot 231, a rubber plate 232, and a blocking roller 233. The supporting leg 231 is disposed on the ground at the end of the lifting platform conveyor belt 21, and the end of the lifting platform conveyor belt 21 is the end of the lifting platform conveyor belt 21 close to the processing conveyor belt 4. The number of the support legs 231 is four, two support legs 231 are oppositely disposed at the end of the lifting platform conveyor belt 21, and the other two support legs 231 are disposed at two sides close to the end of the lifting platform conveyor belt 21. A side link is provided between the adjacent supporting legs 231. The side link is arranged above the rubber plate 232, and preferably, the side link is made of an aluminum alloy material. The rubber plate 232 is a black rubber plate 232, the rubber plate 232 is arranged between the adjacent supporting legs 231, and the rubber plate 232 cannot move along with the rubber plate in the lifting process of the lifting platform conveyor belt 21. A stop roller 233 is arranged between the supporting feet 231 at the end of the lifting platform conveyor belt 21, and the stop roller 233 is arranged above the rubber plate 232. The barrier roller 233 is not driven by a motor and can rotate freely. The mechanical gripper 1 grabs the plate to a set height, drives the plate to slide on the blocking roller 233, and aims to prevent two or more plates from being adsorbed together. Because panel is in the link of elevating platform 2 with the form of piling up place, so set up offset plate 232 in the side that is close to elevating platform conveyer belt 21 terminal, its purpose leads to panel heap to topple in order to prevent elevating platform 2 lift in-process, plays certain limiting displacement.
During the conveying process of the floor conveyor, the plates are conveyed in an overlapped stacking mode, and the contact part of the lowermost plate and the floor conveyor has large friction force, so that a cushion plate is often arranged. The backing plate is arranged below the plate stacking. The abrasion of the plate during the transmission process is prevented.
As shown in fig. 13 to 16, the console includes a control switch, a PLC module, and a display. The display is a touch display, the PLC module can receive and process signals, and the signals comprise parameter information input by an operator. The method for feeding the plate comprises the following steps:
the method comprises the following steps: and pressing a starting button to start the operating console, and entering a main picture of the feeding system.
Step two: the method comprises the steps of inputting plate parameter options, base plate parameter options, stacking parameter options and adsorption plate options.
Step three: and switching the page from the main picture to the parameter setting picture.
Step four: the de-vacuuming mode is selected.
Step five: and setting the material taking X-axis forward pushing distance, the material taking Y-axis side pushing distance or the shaking times according to the mode selected in the step four.
Step six: and clicking the current position of the robot to start or resetting the robot to start.
The main screen of the feeding system comprises a plate parameter option, a base plate parameter option, a stacking parameter option, a mechanical gripper option and an adsorption plate option. The plate parameter options comprise input frames of plate length, width and thickness; the pad parameter options comprise input boxes of pad length and thickness; the stacking parameter option comprises input boxes of stacking line number and column number. The plate parameter options, the base plate parameter options and the stacking parameter options are basic parameters, and the operating platform calculates the falling point of the mechanical gripper in the gripping process according to the basic parameters, so that the mechanical gripper is more reliable in gripping. The mechanical gripper options comprise a robot current position starting button, a robot pause button, a robot reset starting button, a robot speed input frame and a robot board placement delay input frame. The robot speed input box can set the speed of the mechanical gripper to act, and is suitable for different processing requirements. The robot plate placing delay input frame can set the speed of placing plates by the mechanical gripper so as to adapt to plates with different lengths. The adsorption plate option comprises a first clamp closing button and a second clamp closing button. The first clamp closing button can control the adsorption plate close to the electric control line box 165 to open or close to the middle; and the second clamp closing button can control the other adsorption plate to be opened or closed towards the middle. If the first clamp closing button and the second clamp closing button are pressed simultaneously, the two adsorption plates are folded; and if the first clamp closing button and the second clamp closing button are not pressed, the two adsorption plates are opened. Whether the first clamp closing button and the second clamp closing button are pressed down is judged by an operator, if the plate is in a single row and the width of the plate is less than 400mm, the first clamp closing button and the second clamp closing button are pressed down, and at the moment, the adsorption plate is folded; and if the plates are double rows or the width of the plates is more than 400mm, the first clamp closing button and the second clamp closing button are not pressed. After the parameters of the main picture are set, the current position of the robot can be clicked to start or the robot can be reset to start, and the device is started.
In order to prevent two or more plates from being adsorbed, a parameter setting interface is also arranged. The parameter setting interface includes a feed mode option. The feeding mode options comprise a forward pushing vacuum button, a material taking X-axis forward pushing distance input frame, a material taking Y-axis side pushing distance input frame and a shaking frequency input frame. The material taking X-axis forward pushing distance input frame and the material taking Y-axis side pushing distance input frame can control the pushing direction and the pushing length of the mechanical gripper during material taking. The shaking times input box can be used for setting shaking times of the mechanical gripper during material taking. If the front pushing vacuum button is pressed, the material taking X-axis forward pushing distance and the material taking Y-axis side pushing distance need to be set; if the pre-push vacuum button is not pressed, the number of shakes needs to be set. Whether the push-to-vacuum button is pressed or not is judged by an operator. If the mechanical gripper shakes twice and still does not separate the plates, the vacuum degree between the plates is considered to be large, at the moment, the front pushing vacuum button is pressed, and the pushing distance is set, wherein the pushing distance is determined according to the length, the width and the like of the plates. The mechanical gripper pushes and is matched with the blocking device, so that the plates can be separated. If the mechanical gripper shakes twice or less to separate the plates, the vacuum degree between the plates is considered to be small, the vacuum button is not pushed before being pressed, and the shaking times of the mechanical gripper are set. Normally, the adsorption plate is selected to be pushed forwards or laterally for a set distance, so that the situation that the plate is shaken and not separated is avoided.
The parameter setting interface further comprises a material point deviation option and a set point deviation option. The material point deviation option comprises a material point X deviation input box and a material taking point Y direction deviation input box; the setpoint offset options include a setpoint X bias and a setpoint Y offset. And the material point deviation option are judged and input by an operator. The material point deviation option and the point placement deviation option can adjust the falling point of the mechanical gripper, and the stability of the mechanical gripper gripping plate is guaranteed.
Besides setting the parameter automatic feeding, the manual operation can be carried out on a manual picture. The manual picture comprises a roller rotation direction option, a lifting platform rotation direction option and a placing platform option. The roller rotation direction options comprise forward rotation and reverse rotation; the rotation direction options of the lifting platform comprise forward rotation and reverse rotation. The placing table options include a placing table 1 roller line start button and stop button, a placing table 2 roller line start button and stop button, a placing table 1 speed setting input box, and a placing table 2 speed setting input box. The placing table option can control the starting or stopping of the placing table 1 and the placing table 2, and meanwhile, the speed of the placing table 1 and the speed of the placing table 2 roller line can also be set.
The blocking device 23 is provided with a first photoelectric sensing device, the first photoelectric sensing device and the blocking roller 233 are arranged on the same horizontal plane, and the first photoelectric sensing device is electrically connected with the operating platform. When the photoelectric sensing device detects that an object exists on the lifting platform conveyor belt 21, a signal is transmitted to the operation platform, the operation platform sends an action instruction to the mechanical gripper, and the mechanical gripper acts; when the first photoelectric sensing device cannot detect the object, transmitting a signal to the operation table, sending an action instruction to the lifting table 2 by the operation table, lifting the lifting table conveyor belt 21 until the first photoelectric sensing device detects the object, and circularly reciprocating; if the lifting platform conveyor belt 21 still cannot detect the object beyond the set lifting height, the lifting platform conveyor belt 21 is indicated to have no plate, and the lifting platform conveyor belt 21 descends to be aligned with the ground conveyor belt 3 to charge the lifting platform conveyor belt 21. And (3) loading, namely, conveying the next batch of plates to the lifting platform 2 after the lifting platform 2 finishes conveying the previous batch of plates. The first photoelectric sensing device can also distinguish the base plate and the plate, if the first photoelectric sensing device senses the plate, information is sent to the operation table, and the operation table controls the mechanical gripper to convey the sensed plate to the processing conveying belt; if the photoelectric sensing device senses the base plate, information is sent to the operation table, and the operation table controls the mechanical gripper to convey the sensed base plate to the base plate stacking position.
The operation panel also comprises an alarm information picture, and an operator can inquire the history of the abnormal record in the alarm information picture and know the running condition of equipment on the production line in time.
As shown in fig. 1, 6 and 7, during the descending process and the alignment process of the lifting platform conveyor belt, the lifting platform conveyor belt 21 descends at a relatively high speed, and after the lifting platform conveyor belt is lower than the ground conveyor belt 3, the lifting platform 2 slowly ascends until the height of the lifting platform conveyor belt 21 is consistent with that of the ground conveyor belt 3. And a second photoelectric sensing device is arranged on the ground conveyor belt 3 and used for detecting the position of the conveyor belt in the aligning process, and the second photoelectric sensing device is electrically connected with the operating platform. After loading, the lifting platform 2 unloads, the lifting platform 2 descends at a fast speed in the unloading process, and after the uppermost plate is lower than the blocking roller 233, the lifting platform 2 slowly ascends until the uppermost plate is aligned with the blocking roller 233. The first photoelectric sensing device and the second photoelectric sensing device send sensing results to the operating platform, and the operating platform sends action instructions to the lifting platform 2 and the mechanical gripper 1. In the process of loading and unloading alignment, the lifting platform conveyor belt 21 is quickly lowered and slowly lifted after being lower than an alignment plane, so that the alignment is more accurate.
In the feeding process, when the plates are stacked and conveyed in an overlapped mode, the machined plates are smooth in surface, the plates close to the bottom of the plate stack are under high pressure from the plates above, a vacuum environment can be formed between the plates, and the two or more plates can be adsorbed together. The mechanical gripper 1 may lift two or more panels if the mechanical gripper 1 only grips without further handling. However, in the process of processing the plate, each processing link is usually only suitable for the situation of a single plate. Therefore, in actual production, the mechanical gripper 1 can be manually arranged to shake or move towards the blocking roller according to the vacuum degree between the plates, and the plate adsorption condition is avoided.
In order to prevent the plate from surface abrasion during the blanking process, a multi-section conveyor belt 5 is arranged in the plate blanking area. The multi-section conveyor belt 5 includes a frame, a power transmission device 51, and a plate detecting and adjusting mechanism 52. The power transmission device 51 and the plate detecting and adjusting mechanism 52 are disposed on the frame. The terminal of frame sets up blocks the strip, block the strip for the rectangular platelike of erectting for block the panel that conveys, block the strip and be close to the surface of cylinder one side and set up the anticollision strip, the preferred rubber material of anticollision strip. The power transmission device 51 includes a motor, a transmission shaft 511, a shaft fixing bearing block 512, a chain, a roller, and a transmission bar 513. The end point of the multi-section type conveyor belt 5 is used as the end point, the multi-section type conveyor belt 5 comprises a first conveyor belt 53 and a second conveyor belt 54, the first conveyor belt 53 is arranged on the side surface of the second conveyor belt 54, and the end point of the first conveyor belt 53 and the end point of the second conveyor belt 54 are located on the same straight line. The first conveyor belt 53 and the second conveyor belt 54 both comprise a front power area 55 and a rear power area 56, wherein the front power area 55 is an area close to the tail end of the conveyor belts, namely an area close to the terminal point of the conveyor belts; forward power zone 55 and aft power zone 56 are bounded by a shaft-fixed bearing block 512.
The transmission shaft 511 is rod-shaped as a whole, and a transmission gear is disposed on the transmission shaft 511. The chain is arranged between the motor and the transmission shaft 511, the transmission strip 513 is a belt, and the transmission strip 513 is arranged between each roller and the transmission shaft 511. The motor drives the transmission shaft 511 to act through a chain, and the transmission shaft 511 drives the roller to move through the transmission strip 513, so that the integral transmission structure is realized. The transmission shafts 511 include front transmission shafts 511 and rear transmission shafts 511, the transmission shafts 511 include four front power regions 55 and four rear power regions 56 which are respectively arranged on each conveyor belt, namely the front transmission shafts 511 are respectively arranged on the front power regions 55 of the first conveyor belt 53 and the second conveyor belt 54, the rear transmission shafts 511 are respectively arranged on the rear power regions 56 of the first conveyor belt 53 and the second conveyor belt 54, the two transmission shafts 511 on the same conveyor belt are on the same straight line, the two transmission shafts 511 are connected through shaft fixing bearing seats 512, but the two transmission shafts 511 do not have a linkage relationship. On different frames, chains are arranged between two transmission shafts 511 at corresponding positions, and a linkage relationship exists, namely, a chain is arranged between the front transmission shaft 511 of the first transmission belt 53 and the front transmission shaft 511 of the second transmission belt 54, and a chain is arranged between the rear transmission shaft 511 of the first transmission belt 53 and the rear transmission shaft 511 of the second transmission belt 54. The motor is provided with two power areas 55 and 56 which are respectively arranged in the front power area of the second conveyor belt 54 and the rear power area of the second conveyor belt 54, and a chain is arranged between the motor arranged in the front power area 55 of the second conveyor belt 54 and the front transmission shaft 511 of the second conveyor belt 54; a chain is provided between the motor disposed in the area of the rear power region 56 of second conveyor belt 54 and the rear drive shaft 511 of second conveyor belt 54. The purpose that four transmission shafts 511 are driven by two motors is achieved through the matching of the motors, the transmission shafts 511 and the chains, the transmission shafts 511 drive the rollers to rotate through the transmission strips 513, and then the integral power transmission device 51 is achieved.
The plate material detecting and adjusting mechanism 52 includes a counting device 521, a trigger switch 522, and a side-by-side regulating device 523. The counting device 521 is arranged at the boundary part of the front power area 55 of the first conveyor belt 53 and the rear power area 56 of the first conveyor belt, and if the plate passes through the boundary part, the counting device 521 is triggered to count for one time. The trigger switch 522 is a photoelectric switch and is disposed on a side surface of the end of the frame, and the trigger switch 522 is electrically connected to the side-leaning regulator 523 and the mechanical gripper. The trigger switch 522 is used to detect whether the plate has reached the end of the conveyor belt, and if the plate has reached the end, a signal is sent to the mechanical gripper to move the mechanical gripper to perform a plate gripping operation. The side lean regulator 523 comprises an air cylinder and a regulating plate, and the side lean regulator 523 is also controlled by the trigger switch 522. The regular board sets up in the expansion end of cylinder, and the cylinder can promote regular board, and the stiff end of cylinder sets up in the end of frame side, can keep away from the side of conveyer belt two 54 for conveyer belt one 53. The regular board is the rectangular shape board that the cross-section is "L" type, the regular board includes diaphragm and riser, and diaphragm and riser are integrative to be made. When the setting is on the conveyer belt, the diaphragm of regular board is located the top of riser, and regular board and conveyer belt conveying face form the structure of "Contraband" promptly, and wherein the diaphragm is parallel with the conveying face, the conveying face is the plane of the peak formation of cylinder, and the distance of the conveying face of diaphragm and conveyer belt is greater than the thickness of panel, and such structure makes regular board promote panel can with panel card in the space that diaphragm, riser and conveyer belt formed when regular, helps strengthening the reliability that regular board promoted panel. The regular plate is arranged in parallel with the advancing direction of the conveyor belt, and the air cylinder can drive the regular plate to move in the direction vertical to the advancing direction of the conveyor belt.
In the blanking process, a mechanical gripper is supposed to be arranged to grab two plates at a time. The adjacent plates conveyed on the conveyor belt generally have a certain distance, when a first plate passes through the counting device 521 from the rear power area 56 and enters the front power area 55, the motor of the front power area 55 stops working at the moment, and the plate is conveyed to the front power area 55 from the rear power area 56 and stops; until the second plate passes through the counting device 521, the counting of the counting device 521 is two, and a set value is reached, that is, assuming that the mechanical gripper grips the number of plates at a time, the front power region 55 starts to operate, and the two plates are conveyed to the tail end of the conveyor belt together, and it should be noted that the conveying direction of the conveyor belt is taken as the front, and the two plates are in a tandem relationship. When the plate located in front reaches the tail end of the conveyor belt, the plate contacts the stop strip located at the tail end, the trigger switch 522 located at the tail end of the conveyor belt is triggered at the same time, the trigger switch 522 transmits signals to the side leaning and regulating device 523, the cylinder of the side leaning and regulating device 523 acts, the two plates are pushed towards the direction far away from the side leaning and regulating device 523, and due to the effect of the regulating plate, the two plates are located on a straight line perpendicular to the advancing direction of the conveyor belt and are attached in front of each other and behind each other, so that the difficulty in grabbing by a mechanical gripper due to the fact that the plates are not neat is avoided. In the practical use process, generally, shorter plates are transported by using only the first conveyor belt 53, the first conveyor belt 53 and the second conveyor belt 54 are arranged for transporting long plates, when the long plates are placed on the conveyor belts, the long edges of the long plates are perpendicular to the traveling direction of the long plates, if only one conveyor belt is used, the length of a roller is required to be long enough, the power consumption of a motor is increased, and therefore the first conveyor belt 53 and the second conveyor belt 54 are arranged, when the long plates are transported, one end of each long plate is placed on the first conveyor belt 53, and the other end of each long plate is placed on the second conveyor belt 54. The blanking process comprises the following steps:
the method comprises the following steps: the plate is transmitted to the front power area 55 through the counting device 521, and the plate II is transmitted to the rear power area 56;
step two: the front power zone 55 roller stops rotating, and the rear power zone 56 roller continues rotating;
step three: the second plate is transmitted to the front power area 55 through the counting device 521;
step four: the front power area 55 starts a roller to convey the first plate and the second plate to the tail end of the multi-section conveyor belt 5;
step five: the trigger switch 522 senses that the first plate and the second plate are conveyed to the tail end of the multi-section conveyor belt 5, stops the roller in the front power area 55 and starts the side leaning and regulating device 523;
step six: after the position of the first plate and the second plate is adjusted by the side leaning and adjusting device 523, the mechanical gripper is started to grip the plates, and the plates are moved and stacked;
step seven: after the plates are stacked, the air outlet of the mechanical gripper is started, and the plates are cleaned.
The above description is only an embodiment of the present invention, and is not intended to limit the present invention in any way, and simple modifications, equivalent changes and modifications may be made without departing from the technical solutions of the present invention.

Claims (10)

1. A plate loading and unloading device is characterized by comprising a mechanical gripper, a lifting table, a conveying belt and an operation table;
the conveying belt comprises a ground conveying belt, a lifting platform conveying belt, a processing conveying belt and a multi-section conveying belt;
the ground conveyor belt is arranged on the ground, and the tail end of the ground conveyor belt is connected with the lifting platform conveyor belt; the lifting platform conveying belt is arranged at the top of the lifting platform and is a part of the lifting platform; the processing conveyor belt is arranged between the plate processing device and the lifting platform; the multi-section type conveying belt is arranged in a plate blanking area;
the mechanical grippers are arranged on the side face of the lifting platform, and the other mechanical gripper is arranged at the tail end of the multi-section conveyor belt; the mechanical gripper comprises an adsorption device and a shaking device; the adsorption device comprises an exhaust port and an adsorption plate; the two adsorption plates are arranged in parallel, the adsorption plates are driven by cylinders, and the cylinders of the two adsorption plates are independent; the exhaust port is arranged on the adsorption plate; the shaking times and the shaking time of the shaking device are set through an operation console;
the lifting platform comprises a blocking device; the blocking device is arranged between the lifting platform and the processing conveying belt and comprises supporting legs, a rubber plate and blocking rollers; the rubber plate is arranged between the supporting legs; the blocking roller is arranged between the supporting legs;
the multi-section conveyor belt comprises a frame, a power transmission device and a plate detection and adjustment mechanism; the power transmission device and the plate detection and adjustment mechanism are arranged on the frame; the multi-section type conveyor belt comprises a first conveyor belt and a second conveyor belt, wherein the first conveyor belt and the second conveyor belt both comprise a front power area and a rear power area;
the operation panel is electrically connected with the mechanical gripper, the lifting platform and the conveyor belt.
2. The device for loading and unloading plates as claimed in claim 1, wherein the plate detecting and adjusting mechanism comprises a counting device, a trigger switch, a side leaning and regulating device; the counting device is arranged at the boundary of the front power area and the rear power area of the first conveyor belt; the trigger switch is arranged at the tail end of the frame, and the side leaning regulator is arranged at the tail end of the frame; the trigger switch is electrically connected with the side leaning regulator and the manipulator.
3. The sheet loading and unloading device according to claim 1, wherein the mechanical gripper further comprises a gripper base, a mechanical large arm and a mechanical small arm; one end of the large mechanical arm is arranged on the gripper base, a first rotating disc is arranged between the large mechanical arm and the gripper base, and a small mechanical arm is arranged at the other end of the large mechanical arm; and the other end of the mechanical small arm is provided with an adsorption device, and a second rotary table is arranged between the adsorption device and the mechanical small arm.
4. The board loading and unloading device according to claim 1, wherein the adsorption device comprises a connecting plate, a fixed table, a power set, an adsorption plate rail and an adsorption plate;
the connecting plate is arranged between the fixed table and the mechanical small arm, the fixed table is arranged in parallel with the connecting plate, and a connecting column is arranged between the fixed table and the connecting plate; the connecting column is of a circular tube nested structure, a circular tube with a smaller radius can slide in a circular tube with a larger radius, and a damping spring is arranged on the periphery of the connecting column;
the power unit comprises a cylinder, a vacuum pump and an electric control wire box; the electrical control wire box is electrically connected with the operating platform; the vacuum pump comprises an air suction end and an air exhaust end, a guide pipe is arranged between the air suction end and the adsorption plate, and a guide pipe is arranged between the air exhaust end and the air exhaust port;
the adsorption plate rail comprises a slide rail and a slide block; the two sliding rails are arranged on the lower surface of the fixed platform in parallel; the adsorption plate is perpendicular to the slide rail, and a slide block is arranged between the adsorption plate and the slide rail;
the number of the sliding blocks is four, each adsorption plate is provided with two sliding blocks, and the two sliding blocks of the same adsorption plate are respectively positioned on the two sliding rails; each adsorption plate is provided with two cylinders for driving, and the two cylinders are arranged in parallel; the interior of the adsorption plate is hollow, and the lower surface of the adsorption plate is provided with adsorption holes and a sponge layer; the adsorption holes are communicated with the outside of the adsorption plate with the hollow structure inside the adsorption plate.
5. The board loading and unloading device according to claim 1, wherein the lifting table further comprises a lifting table conveyor belt and a lifting device; the lifting device comprises a lifting platform base, a lifting support rod, a lifting cylinder and a hydraulic station; the lifting support rod is arranged between the lifting platform base and the lifting platform conveyor belt; the lifting cylinder and the hydraulic station are arranged on the lifting platform base.
6. The board loading and unloading device according to claim 5, wherein the lifting platform base is provided with a mechanical limit block; the mechanical limiting block comprises a metal bottom block and a rubber top block, and the rubber top block is arranged above the metal bottom block; the lifting platform base is also provided with a turnover safety device; the overturning safety device comprises a safety plate and a safety block; the number of the safety blocks is two, and the two safety blocks are arranged in parallel; the safety plate is arranged between the two safety blocks; a connecting shaft is arranged between the safety plate and the two safety blocks.
7. The board loading and unloading device according to claim 1, wherein the blocking device is provided with a first photoelectric sensing device; the first photoelectric sensing device is electrically connected with the operating platform; the first photoelectric sensing device is consistent with the horizontal height of the blocking roller; the ground conveyor belt is provided with a second photoelectric sensing device, and the first photoelectric sensing device and the second photoelectric sensing device are electrically connected with the operating platform.
8. A method for loading and unloading a plate material by using the device as claimed in claim 1, wherein the loading method comprises the following steps:
the method comprises the following steps: the operation panel receives a starting-up instruction and enters a main picture of the feeding system;
step two: the operation table receives input plate parameter options, base plate parameter options, stacking parameter options and adsorption plate options;
step three: receiving a page switching instruction, and switching from a main picture to a parameter setting picture;
step four: receiving a vacuum removing mode instruction;
step five: receiving a material taking X-axis forward pushing distance, a material taking Y-axis side pushing distance or a shaking frequency instruction;
step six: receiving a starting instruction of the current position of the robot or a resetting starting instruction of the robot, starting the mechanical gripper, and controlling the working mode of the mechanical gripper according to the parameters input in the second step and the fifth step;
the blanking method comprises the following steps:
the method comprises the following steps: the first plate is conveyed to the front power area through the counting device, and the second plate is conveyed to the rear power area;
step two: the front power area roller stops rotating, and the rear power area roller continues rotating;
step three: the second plate is transmitted to the front power area through the counting device;
step four: starting a front power area roller, and conveying the first plate and the second plate to the tail end of the multi-section conveyor belt;
step five: the trigger switch senses that the first plate and the second plate are conveyed to the tail end of the multi-section type conveying belt, the roller in the front power area is stopped, and the side leaning and regulating device is started;
step six: after the position of the first plate and the position of the second plate are adjusted by the side leaning and adjusting device, starting a mechanical gripper to grip the plates, and moving and stacking the plates;
step seven: after the plates are stacked, the air outlet of the mechanical gripper is started, and the plates are cleaned.
9. The method for loading and unloading of plates as claimed in claim 8, wherein the main screen includes a plate parameter option, a shim plate parameter option, a palletizing parameter option, a mechanical gripper option, and an adsorption plate option; the plate parameter options comprise input frames of plate length, width and thickness; the pad parameter options comprise input boxes of pad length and thickness; the stacking parameter options comprise input frames of stacking line number and stacking column number; the options of the adsorption plate comprise closing of the adsorption plate and opening of the adsorption plate, and the opening of the adsorption plate is a set value for opening the adsorption plate; the feeding mode options comprise setting of a working mode of the mechanical gripper; the mechanical gripper options comprise a robot current position starting button, a robot pause button, a robot reset starting button, a robot speed input frame and a robot board placing delay input frame; the adsorption plate option comprises a first clamp closing button and a second clamp closing button.
10. The method for loading and unloading the plates according to claim 8, wherein the working modes of the mechanical gripper comprise forward or side pushing of the mechanical gripper and shaking of the mechanical gripper; if the operating platform receives a forward pushing vacuum instruction, the mechanical gripper is controlled to move forward or laterally by a set distance, and the set distance is a material taking X-axis forward pushing distance and a material taking Y-axis lateral pushing distance in the fifth step; and if the operating platform does not receive the vacuum removing instruction, controlling the mechanical gripper to shake for a set number of times, wherein the set number of times is the shaking number of times in the step five.
CN201910874598.XA 2019-09-17 2019-09-17 Feeding and discharging device and method for separating plates Pending CN110642023A (en)

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CN111332785A (en) * 2020-03-05 2020-06-26 江苏仁康蛋业有限公司 Egg feeding system
CN111957842A (en) * 2020-06-22 2020-11-20 国机铸锻机械有限公司 Feeding process and equipment for bent piece and straight piece
CN112247375A (en) * 2020-10-28 2021-01-22 贵州智晟信和科技有限公司 Automatic change laser cutting equipment for unloading
CN112298921A (en) * 2020-11-12 2021-02-02 苏州立科工业设计有限公司 Intelligent workshop operating table
CN112677055A (en) * 2020-12-03 2021-04-20 佛山市法比澳挤压机械科技有限公司 Loading and unloading device for metal surface treatment device
CN113353631A (en) * 2021-06-24 2021-09-07 蓝思智能机器人(长沙)有限公司 Piece-separating feeding device
CN114162516A (en) * 2021-11-29 2022-03-11 卢大勇 Automatic feeding device for industrial automatic production line
CN114798278A (en) * 2022-04-29 2022-07-29 深圳市展荣鑫精密技术有限公司 Continuous type flow direction of packaging line based on manipulator
CN114873262A (en) * 2022-05-27 2022-08-09 中冶重工（唐山）有限公司 Device and method for separating materials by uncovering plates
CN115211572A (en) * 2022-05-20 2022-10-21 广东酸动力生物科技有限公司 Cold-spraying coated feed acid agent production line
CN115258683A (en) * 2022-09-27 2022-11-01 四川英创力电子科技股份有限公司 Precise double-sided exposure device and method for printed circuit board
CN115402777A (en) * 2022-09-05 2022-11-29 广东鑫光智能***有限公司 Backing plate material distributor, backing plate material distributing method and detection stacking material distributing production line
CN115417098A (en) * 2022-10-10 2022-12-02 佛山豪德数控机械有限公司 Plate thickness detection system and method based on plate cutting saw
CN116767850A (en) * 2023-07-18 2023-09-19 广州汉宋电子科技有限公司 Device and method for conveying cosmetic mirror lamp

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CN111332785A (en) * 2020-03-05 2020-06-26 江苏仁康蛋业有限公司 Egg feeding system
CN111957842A (en) * 2020-06-22 2020-11-20 国机铸锻机械有限公司 Feeding process and equipment for bent piece and straight piece
CN112247375A (en) * 2020-10-28 2021-01-22 贵州智晟信和科技有限公司 Automatic change laser cutting equipment for unloading
CN112298921A (en) * 2020-11-12 2021-02-02 苏州立科工业设计有限公司 Intelligent workshop operating table
CN112677055A (en) * 2020-12-03 2021-04-20 佛山市法比澳挤压机械科技有限公司 Loading and unloading device for metal surface treatment device
CN113353631A (en) * 2021-06-24 2021-09-07 蓝思智能机器人(长沙)有限公司 Piece-separating feeding device
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CN114162516A (en) * 2021-11-29 2022-03-11 卢大勇 Automatic feeding device for industrial automatic production line
CN114798278A (en) * 2022-04-29 2022-07-29 深圳市展荣鑫精密技术有限公司 Continuous type flow direction of packaging line based on manipulator
CN115211572A (en) * 2022-05-20 2022-10-21 广东酸动力生物科技有限公司 Cold-spraying coated feed acid agent production line
CN114873262A (en) * 2022-05-27 2022-08-09 中冶重工（唐山）有限公司 Device and method for separating materials by uncovering plates
CN115402777A (en) * 2022-09-05 2022-11-29 广东鑫光智能***有限公司 Backing plate material distributor, backing plate material distributing method and detection stacking material distributing production line
CN115258683A (en) * 2022-09-27 2022-11-01 四川英创力电子科技股份有限公司 Precise double-sided exposure device and method for printed circuit board
CN115417098A (en) * 2022-10-10 2022-12-02 佛山豪德数控机械有限公司 Plate thickness detection system and method based on plate cutting saw
CN115417098B (en) * 2022-10-10 2023-07-25 广东豪德数控装备股份有限公司 Board thickness detection system and method based on board cutting saw
CN116767850A (en) * 2023-07-18 2023-09-19 广州汉宋电子科技有限公司 Device and method for conveying cosmetic mirror lamp
CN116767850B (en) * 2023-07-18 2024-01-12 广州汉宋电子科技有限公司 Device and method for conveying cosmetic mirror lamp

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Application publication date: 20200103