CN207256234U - A kind of bending plate duplex sucker manipulator - Google Patents
A kind of bending plate duplex sucker manipulator Download PDFInfo
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- CN207256234U CN207256234U CN201720846083.5U CN201720846083U CN207256234U CN 207256234 U CN207256234 U CN 207256234U CN 201720846083 U CN201720846083 U CN 201720846083U CN 207256234 U CN207256234 U CN 207256234U
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- sucker
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- sucker manipulator
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Abstract
The utility model discloses a kind of bending plate duplex sucker manipulator, including track girder, the first track translation plates, the first sucker manipulator, the second track translation plates, the second sucker manipulator.Track girder is horizontally disposed with, equipped with track sliding rail.First track translation plates and the second track translation plates are erected on track sliding rail.First sucker manipulator and the second sucker manipulator are separately mounted in the first track translation plates and the second track translation plates.First track translation plates are connected with the second track translation plates by connecting rod so that the first sucker manipulator and the second distance of the sucker machinery palmistry away from a station.One of first track translation plates and the second track translation plates are connected with track translational drive mechanism so that the first track translation plates and the second track translation plates can move under the driving of track translational drive mechanism along track sliding rail.First sucker manipulator is used for transfer L shaped plate.Second sucker manipulator, which is used for transfer Z-shaped plate, can simultaneously do Z-shaped plate 180 degree upset.
Description
Technical field
It the utility model is related to sucker manipulator.
Background technology
The plate body for the zigzag configuration that Z-shaped plate is made of first horizontal segment, center vertical section and the second horizontal segment.Patent text
Offer 106694641 A of CN and disclose a kind of Z-shaped bending machine.The Z-shaped bending machine by two downward bending being oppositely arranged mechanisms and
Upward bending mechanism is formed.But the Z-shaped bending machine has a problem that：The first horizontal segment for the Z-shaped plate being bent into and
Two horizontal section lengths cannot be too long, and otherwise Z-shaped plate can not be taken out from two bending mechanisms.In freezer liner preparation process,
Freezer liner coaming plate is used to isolate freezer liner and refrigeration device.Freezer liner coaming plate is usually made of Figured aluminium plate.It is in general, cold
Cabinet liner coaming plate adds bottom plate riveting after becoming degree of lip-rounding coaming plate after mutually being riveted as the U-shaped coaming plate made by two pieces of Figured aluminium plates
Formed afterwards.Its bottom plate is Z-shaped plate.The first horizontal segment and center vertical section of the Z-shaped bottom plate of this freezer liner coaming plate are all
It is shorter, but the second horizontal segment is very long.If bending, the Z that bending forms are carried out by the Z-shaped bending machine in 106694641 A of CN
During shape bottom plate, in 90 degree of rollover states, that is, center vertical section in level, first horizontal segment and the second horizontal segment in vertical,
First horizontal segment and the second horizontal segment are stuck in two bending mechanisms.Since the second horizontal segment is too long, bending mechanism is stuck in
Binder platform and holding pad between the second horizontal segment, it is difficult to taken out from bending mechanism.
A kind of Z-shaped plate bender being made of two bending handsets can be designed for this.The Z-shaped plate bender is first by first
Platform bending handset is L-shaped by Figured aluminium plate bending, and the Figured aluminium plate of L-shaped is then bent into Z again by second bending handset again
Shape.The second longer horizontal segment is placed in outside the bending mechanism of bending handset during two bending handset bendings, it is possible thereby to solve
The problem of certainly Z-shaped plate after bending is difficult to take out from bending mechanism.Needed between two bending handsets by sucker manipulator
Shift plate.Since the quality of Figured aluminium plate is softer, common duplex sucker manipulator can not be competent.
The content of the invention
Problem to be solved in the utility model：The Z-shaped plate bender being made of two bending handsets rolls over Figured aluminium plate
Curve it is Z-shaped during, plate between bending handset and next station plate transmit the problem of.
To solve the above problems, the scheme that the utility model uses is as follows：
A kind of bending plate duplex sucker manipulator, including track girder, the first track translation plates, the first sucker manipulator,
Two track translation plates, the second sucker manipulator；Track girder is horizontally disposed with, equipped with track sliding rail；First track translation plates and second
Track translation plates are erected on track sliding rail；First sucker manipulator and the second sucker manipulator are separately mounted to the first track and put down
Move in plate and the second track translation plates；First track translation plates are connected with the second track translation plates by connecting rod so that first inhales
Disk manipulator and the second distance of the sucker machinery palmistry away from a station；One of first track translation plates and the second track translation plates
It is connected with track translational drive mechanism so that the first track translation plates and the second track translation plates can be in track driven in translation machines
Moved under the driving of structure along track sliding rail；First sucker manipulator is used for transfer L shaped plate；Second sucker manipulator is used for transfer
Z-shaped plate can simultaneously be done 180 degree upset by Z-shaped plate.
Further, the first sucker machinery hand includes some first strip sucking disc mechanisms, the second strip sucking disc mechanism, stretches and put down
Move plate and the first sucker beam；First sucker beam is horizontally disposed with, in the first track translation plates, and it is perpendicular with slide；The
One strip sucking disc mechanism is made of the first cylinder, the first sucker and the first strutbeam；First strutbeam by be vertically arranged first
Cylinder is erected at the lower section of the first sucker beam, and perpendicular with the first sucker beam；Beam of some first suckers along the first strutbeam
Body dimension linear is set；Second strip sucking disc mechanism is made of the second cylinder, the second sucker and the second strutbeam；Second strutbeam leads to
Cross the lower section that the second cylinder being vertically arranged is erected at flexible translation plates, positioned at the end of the first sucker beam, and with the first sucker
Beam is perpendicular；Some second suckers are set along the beam body dimension linear of the second strutbeam；Second sucker and the first sucker are the same as high, group
Into unified sucker face；Flexible translation plates are erected on girder by flexible slide, and connect telescopic cylinder so that flexible translation
Plate can be along girder under the driving of telescopic cylinder beam body direction translated, and then drive the second strip sucking disc mechanism into
Row translation is flexible.
Further, the second sucker machinery hand includes flip beam, turnover driving mechanism, the first sucking disc mechanism and end support machine
Structure；The root of flip beam is horizontally arranged in the second track translation plates by the turnover driving mechanism so that flip beam can
Surrounded under the driving of the turnover driving mechanism along the horizontal axis in flip beam beam body erection direction and do 180 degree upset up and down；
Sucker on first sucking disc mechanism forms the first sucker face parallel with flip beam；The end support mechanism includes two L
Shape support plate；Two L-shaped support plates are installed on the end of flip beam each via telescopic cylinder respectively；So that two L-shaped supports
Plate can stretch under the action of telescopic cylinder along flip beam beam body erection direction.
Further, the second sucker manipulator further includes the second sucking disc mechanism；Sucker composition on second sucking disc mechanism
Composition it is vertical and the second sucker face perpendicular to flip beam.Second sucker face can set up direction along flip beam beam body and be stretched
Contracting.
The technique effect of the utility model is as follows：
1st, the first sucker manipulator is adapted to the bending part of L-shaped bending plate, is made by moveable second strip sucking disc mechanism
The sucker obtained on the second strip sucking disc mechanism can be grasped at the bending part of L-shaped bending plate, so as to avoid due to bending part
Weight causes the problem of sheet metal bending deformation.
2nd, the second sucker manipulator is designed by double L-shaped support plates so that it can be adapted to the Z-shaped plate of two kinds of height.
3rd, the second sucker manipulator grasps the center vertical section part of Z-shaped plate by the second sucking disc mechanism of end so that Z
Shape plate can be supported enough.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the utility model embodiment.
Fig. 2 is the structure diagram of the first sucker manipulator.
Fig. 3 is the structure diagram of the second sucker manipulator.
Embodiment
The utility model is described in further details below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of bending plate duplex sucker manipulator, including track girder 682, the first track translation plates 691,
One sucker manipulator 61, the second track translation plates 692, the second sucker manipulator 62.Track girder 682 is installed on the top of column 681
End, in horizontally disposed.The side of track girder 682 is equipped with track sliding rail 683.First track translation plates 691 and the translation of the second track
Plate 692 is erected on track sliding rail 683.First sucker manipulator 61 and the second sucker manipulator 62 are separately mounted to the first track
In 691 and second track translation plates 692 of translation plates.First track translation plates 691 and the second track translation plates 692 pass through connecting rod
685 are connected so that the first sucker manipulator 61 and the second sucker manipulator 62 at a distance of a station distance, so as to form duplex
Structure.One of first track translation plates 691 and the second track translation plates 692 are connected with track translational drive mechanism so that first
691 and second track translation plates 692 of track translation plates can be under the driving of track translational drive mechanism along track sliding rail 683
It is mobile.In the present embodiment, the first track translation plates 691 connection track translational drive mechanism.Track translational drive mechanism includes electricity
Machine 683 and rack 684.Motor 683 is fixed with 691 phase of the first track translation plates, is connected with the gear being meshed with rack 684.
Rack 684 is arranged on the top of track girder 682.The beam body erection side of track sliding rail 683 and track girder 682 each along track girder 682
To setting.First sucker manipulator 61 is used for transfer L shaped plate.Second sucker manipulator 62 is used for transfer Z-shaped plate simultaneously can will be Z-shaped
Plate does 180 degree upset.Specifically, the bending plate duplex sucker manipulator of the present embodiment has corresponded to three stations：First work
Position is the first bending station for plate to be bent into L shaped plate, and second station is second that L shaped plate is bent into Z-shaped plate
Bending station, the 3rd station is discharge station.When the L shaped plate that the first sucker manipulator 61 will be formed by first station bending
When being moved to second station, the Z-shaped plate formed by second station bending is moved to the by the second sucker manipulator 62 at the same time
Three stations.
First sucker manipulator 61, as shown in Fig. 2, including some first strip sucking disc mechanisms, the second strip sucking disc mechanism,
6122 and first sucker beam 611 of flexible translation plates.First sucker beam 611 is horizontally disposed, its root passes through stent and installing plate 612
It is mutually fixed, and be installed on by installing plate 612 in the first track translation plates 691.
First strip sucking disc mechanism is made of the first cylinder 6131, the first sucker 6132 and the first strutbeam 6133.First
Strutbeam 6133 is erected at the lower section of the first sucker beam 611 by the first cylinder 6131 being vertically arranged, and with the first sucker beam 611
It is perpendicular.It should be evident that the first strutbeam 6133 of each first strip sucking disc mechanism is parallel to each other.First sucker 6132, has
It is multiple.Multiple first suckers 6132 are set along the beam body dimension linear of the first strutbeam 6133.
Second strip sucking disc mechanism is made of the second cylinder 6141, the second sucker 6142 and the second strutbeam 6143.Second
Strutbeam 6143 is erected at the lower section of flexible translation plates 6122 by the second cylinder 6141 being vertically arranged, positioned at the first sucker beam
611 end, and it is perpendicular with the first sucker beam 611.It should be evident that the second strutbeam 6143 is equal with the first strutbeam 6133
OK.Second more than 6142, sucker.Multiple second suckers 6142 are set along the beam body dimension linear of the second strutbeam 6143.Second inhales
6142 and first sucker 6132 of disk forms unified sucker face with height.Flexible translation plates 6122 are erected at the by slide 6121
On one sucker beam 611, and connect telescopic cylinder 6123 so that flexible translation plates 6122 can be under the driving of telescopic cylinder 6123
Translated along the beam body direction of the first sucker beam 611, and then drive the second strip sucking disc mechanism to be translated.Telescopic cylinder
6123 are arranged on the side of the first sucker beam 611, the flexible translation plates 6122 of its piston connection.
In simple terms, the second strip sucking disc mechanism is a moveable sucking disc mechanism, can be by sucker machine with movement
Structure is moved at the bending part of L-shaped bending plate, since the bending line of L-shaped bending plate is straight line, the second strip sucking disc mechanism
On sucker be also that linear arrangement enables the sucker on the second strip sucking disc mechanism to be laid out along bending line.
Second sucker manipulator 62 can refer to the vertical 180 degree rotation of a kind of Z-shaped plate in patent document CN105500393A
Manipulator.The second sucker manipulator 62 of the present embodiment has done some optimizations on the basis of patent document CN105500393A and has changed
Into specific as follows：
Second sucker manipulator 62, as shown in figure 3, including flip beam 6213, turnover driving mechanism, the first sucking disc mechanism,
Second sucking disc mechanism and end support mechanism.The root of flip beam 6213 is horizontally arranged in the second rail by turnover driving mechanism
In road translation plates 692 so that flip beam 6213 can be surrounded along 6213 beam body frame of flip beam under the driving of turnover driving mechanism
The horizontal axis of set direction do 180 degree upset up and down.Turnover driving mechanism includes 180 degree rotary cylinder 6211 and turnover disc
6212.180 degree rotary cylinder 6211 and turnover disc 6212 are installed in the second track translation plates 692, and are located at the second rail respectively
The two sides of road translation plates 692.180 degree rotary cylinder 6211 connects turnover disc 6212 so that turnover disc 6212 can be revolved in 180 degree
Under the driving of rotaring cylinder 6211 180 degree rotation is done around horizontal axis.Flip beam 6213 is horizontally disposed, and root is fixed on turnover disc
On 6212.When turnover disc 6212 carries out 180 degree rotation, flip beam 6213 can be driven to surround and set up along 6213 beam body of flip beam
The horizontal axis in direction do 180 degree upset up and down.
First sucking disc mechanism includes some transverse beams 6223 and some horizontal suckers 6222.Transverse beam 6223 passes through lifting
Cylinder 6221 is installed on flip beam 6213, and perpendicular with flip beam 6213.Transverse beam 6223 is equipped with some first suckers
6222.First sucker face of each horizontal composition of sucker 6222 unification in each transverse beam 6223.Horizontal sucker face and flip beam
6213 is parallel.Each horizontal sucker 6222 or upward in the first sucker face is formed, or downward；Turned over when flip beam 6213 does 180 degree
When turning, the direction for forming each horizontal sucker 6222 in the first sucker face switches up and down.
Second sucking disc mechanism includes vertical 6232 and second suction cup carrier 6233 of sucker.Vertical sucker 6232 is installed on second and inhales
On plate rail 6233, and form the second vertical sucker face.Second sucker face is perpendicular to flip beam 6213.Form the second sucker face
Each vertical sucker 6232 is towards outside.Second suction cup carrier 6233 is installed on the end of flip beam 6213 by horizontal air cylinder 6231,
So that vertical 6232 and second suction cup carrier 6233 of sucker can be along 6213 beam of flip beam under the driving of horizontal air cylinder 6231
Body sets up direction and stretches, and stretches so that the second sucker face can set up direction along 6213 beam body of flip beam.
End support mechanism includes the first L-shaped support plate 6242 and the second L-shaped support plate 6252.First L-shaped support plate
6242 and second L-shaped support plate 6252 be installed on turn over each via the first telescopic cylinder 6241 and the second telescopic cylinder 6251 respectively
Turn the end of beam 6213.First telescopic cylinder 6241 and the second telescopic cylinder 6251 are installed frame plate 6214 by telescopic cylinder and are installed
In the side of flip beam 6213.The piston rod of first telescopic cylinder 6241 and the second telescopic cylinder 6251 is erected at flip beam 6213
On the guide plate 6215 of side.Guide plate 6215 is equipped with linear bearing.First telescopic cylinder 6241 and the second telescopic cylinder
6251 piston rod connects the first L-shaped support plate 6242 and the 2nd L after each passing through the linear bearing on guide plate 6215 respectively
Shape support plate 6252 so that the first L-shaped support plate 6242 and the second L-shaped support plate 6252 can be set up along 6213 beam body of flip beam
Stretch in direction.First L-shaped support plate 6242 and the second L-shaped support plate 6252 are formed by level board and vertical plate.First L
The level board of 6242 and second L-shaped support plate 6252 of shape support plate is parallel to the first sucker face.The water of first L-shaped support plate 6242
Tablet is differed with the distance in the first sucker face and the level board of the second L-shaped support plate 6252 and the distance in the first sucker face.
Claims (4)
1. a kind of bending plate duplex sucker manipulator, it is characterised in that including track girder (682), the first track translation plates
(691), the first sucker manipulator (61), the second track translation plates (692), the second sucker manipulator (62)；Track girder (682) water
It is flat to set, equipped with track sliding rail (683)；First track translation plates (691) and the second track translation plates (692) are erected at track cunning
On rail (683)；First sucker manipulator (61) and the second sucker manipulator (62) are separately mounted to the first track translation plates (691)
In the second track translation plates (692)；First track translation plates (691) and the second track translation plates (692) pass through connecting rod (685)
It is connected so that the distance of the first sucker manipulator (61) and the second sucker manipulator (62) an apart station；First track is put down
Move one of plate (691) and second track translation plates (692) and be connected with track translational drive mechanism so that the first track translation plates
(691) can be moved with the second track translation plates (692) under the driving of track translational drive mechanism along track sliding rail (683)
It is dynamic；First sucker manipulator (61) is used for transfer L shaped plate；Second sucker manipulator (62) is used for transfer Z-shaped plate simultaneously can will be Z-shaped
Plate does 180 degree upset.
2. bending plate duplex sucker manipulator as claimed in claim 1, it is characterised in that the first sucker manipulator (61) includes
Some first strip sucking disc mechanisms, the second strip sucking disc mechanism, flexible translation plates (6122) and the first sucker beam (611)；First
Sucker beam (611) is horizontally disposed, in the first track translation plates (691), and it is perpendicular with slide (683)；First strip
Sucking disc mechanism is made of the first cylinder (6131), the first sucker (6132) and the first strutbeam (6133)；First strutbeam (6133)
Be erected at the lower section of the first sucker beam (611) by the first cylinder (6131) being vertically arranged, and with first sucker beam (611) phase
Vertically；Some first suckers (6132) are set along the beam body dimension linear of the first strutbeam (6133)；Second strip sucking disc mechanism
It is made of the second cylinder (6141), the second sucker (6142) and the second strutbeam (6143)；Second strutbeam (6143) is by vertical
The second cylinder (6141) set is erected at the lower section of flexible translation plates (6122), positioned at the end of the first sucker beam (611), and
It is perpendicular with the first sucker beam (611)；Some second suckers (6142) set along the beam body dimension linear of the second strutbeam (6143)
Put；Second sucker (6142) with height, forms unified sucker face with the first sucker (6132)；Flexible translation plates (6122) are by stretching
Contracting slide (6121) is erected on the first sucker beam (611), and connects telescopic cylinder (6123) so that flexible translation plates (6122)
It can be translated under the driving of telescopic cylinder (6123) along the beam body direction of the first sucker beam (611), and then drive the
It is flexible that two strip sucking disc mechanisms carry out translation.
3. bending plate duplex sucker manipulator as claimed in claim 1, it is characterised in that the second sucker manipulator (62) includes
Flip beam (6213), turnover driving mechanism, the first sucking disc mechanism and end support mechanism；The root of flip beam (6213) passes through institute
State turnover driving mechanism to be horizontally arranged in the second track translation plates (692) so that flip beam (6213) can be in the upset
Surrounded under the driving of driving mechanism along the horizontal axis in flip beam (6213) beam body erection direction and do 180 degree upset up and down；First
Sucker on sucking disc mechanism forms the first sucker face parallel with flip beam (6213)；The end support mechanism includes two
L-shaped support plate；Two L-shaped support plates are installed on the end of flip beam each via telescopic cylinder respectively；So that two L-shaped supports
Plate can set up direction along flip beam (6213) beam body under the action of telescopic cylinder and stretch.
4. bending plate duplex sucker manipulator as claimed in claim 3, it is characterised in that the second sucker manipulator (62) also wraps
Include the second sucking disc mechanism；Sucker composition composition on second sucking disc mechanism it is vertical and the second sucker perpendicular to flip beam
Face；Second sucker face can set up direction along flip beam (6213) beam body and stretch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720846083.5U CN207256234U (en) | 2017-07-13 | 2017-07-13 | A kind of bending plate duplex sucker manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720846083.5U CN207256234U (en) | 2017-07-13 | 2017-07-13 | A kind of bending plate duplex sucker manipulator |
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| Publication Number | Publication Date |
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| CN207256234U true CN207256234U (en) | 2018-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720846083.5U Active CN207256234U (en) | 2017-07-13 | 2017-07-13 | A kind of bending plate duplex sucker manipulator |
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| CN (1) | CN207256234U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366467A (en) * | 2018-12-10 | 2019-02-22 | 昆明理工大学 | A kind of both arms starting sheet fragment manipulator |
| CN110788880A (en) * | 2019-12-13 | 2020-02-14 | 苏州荣威工贸有限公司 | Automatic robot that overturns of two tongs |
| CN113426914A (en) * | 2021-06-16 | 2021-09-24 | 芜湖常瑞汽车部件有限公司 | Material taking device of automatic punching machine |
-
2017
- 2017-07-13 CN CN201720846083.5U patent/CN207256234U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366467A (en) * | 2018-12-10 | 2019-02-22 | 昆明理工大学 | A kind of both arms starting sheet fragment manipulator |
| CN109366467B (en) * | 2018-12-10 | 2023-09-29 | 昆明理工大学 | Double-arm starting sheet slicing manipulator |
| CN110788880A (en) * | 2019-12-13 | 2020-02-14 | 苏州荣威工贸有限公司 | Automatic robot that overturns of two tongs |
| CN113426914A (en) * | 2021-06-16 | 2021-09-24 | 芜湖常瑞汽车部件有限公司 | Material taking device of automatic punching machine |
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