CN210231965U - Manipulator feeding and discharging system for grabbing elevator seat steel plate - Google Patents
Manipulator feeding and discharging system for grabbing elevator seat steel plate Download PDFInfo
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- CN210231965U CN210231965U CN201920879684.5U CN201920879684U CN210231965U CN 210231965 U CN210231965 U CN 210231965U CN 201920879684 U CN201920879684 U CN 201920879684U CN 210231965 U CN210231965 U CN 210231965U
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Abstract
The embodiment of the utility model discloses unloading system on manipulator that is used for elevator seat steel sheet to snatch. The utility model discloses a feeding and discharging system of manipulator, include: the device comprises a stroke mechanism, a grabbing mechanism and a controller, wherein the stroke mechanism drives the grabbing mechanism to move up and down and left and right. Snatch the mechanism and include: snatch support, branch cylinder, branch support, vacuum pump and vacuum chuck, the one end of the support of dividing is being snatched in the setting of branch support, is connected with the expansion end of branch cylinder, and vacuum chuck sets up in the bottom of snatching support and branch support. The utility model discloses a last unloading system of manipulator is controlled by the controller, adsorbs the last unloading of snatching the steel sheet and accomplishing the steel sheet through vacuum chuck, has improved production efficiency, and snatchs the steel sheet time division open the cylinder and stretch out earlier and make the branch support rise, and the vacuum chuck on the branch support drives one side perk of steel sheet, makes separately between steel sheet and the lower floor's steel sheet, snatchs the support and wholly rises again for snatch the mechanism and only snatch a steel sheet at every turn.
Description
Technical Field
The embodiment of the utility model provides a manipulator feeding and discharging system for elevator seat steel sheet snatchs relates to the manipulator field, concretely relates to.
Background
The seat type elevator is an elevator running on the side surface of a stair and mainly helps a person who is inconvenient to move up and down the stair.
In order to ensure the strength of the seat, the seat on the elevator is made of steel plates. Because the steel sheet area of purchasing from the market is great, when actual production uses, need to pass through laser cutting machine to the cutting of great panel to satisfy the production needs.
The inventor of this application discovers, when cutting the steel sheet among the prior art, generally adopts artifical unloading of going up, wastes time and energy, and production efficiency is low, and owing to there is suction between the steel sheet that piles up, is difficult to even when the steel sheet material loading from the material chop separate.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a last unloading system of manipulator that is used for elevator seat steel sheet to snatch to improve production efficiency.
The embodiment of the utility model provides a unloading system on manipulator for elevator seat steel sheet snatchs, include: the device comprises a stroke mechanism, a grabbing mechanism and a controller;
the stroke mechanism includes: the device comprises a stroke support, a first cross beam, a horizontal moving mechanism and a lifting mechanism;
the first cross beam is horizontally arranged on the stroke support;
the horizontal movement mechanism includes: a slide block and a horizontal motor;
the sliding block is movably arranged on the first cross beam, and the horizontal motor is used for driving the sliding block to move along the first cross beam;
the lifting mechanism comprises: a longitudinal beam and a lifting motor;
the longitudinal beam is movably arranged on the sliding block, and the lifting motor is used for driving the longitudinal beam to move up and down relative to the sliding block;
the grabbing mechanism is arranged at the bottom end of the longitudinal beam;
the grabbing mechanism comprises: the device comprises a grabbing bracket, a separating cylinder, a separating bracket, a vacuum pump and a plurality of vacuum suckers;
the vacuum pump is arranged on the grabbing bracket;
the plurality of vacuum chucks comprises: a plurality of first vacuum chucks and a plurality of second vacuum chucks;
the plurality of first vacuum suction cups are arranged at the bottom of the grabbing bracket;
the separating cylinder is arranged on the grabbing bracket;
the separating support is arranged at one end of the grabbing support and is connected with the movable end of the separating cylinder, and the separating cylinder is used for driving the separating support to lift;
the second vacuum chucks are arranged at the bottom of the separating bracket and lift along with the separating bracket;
the first vacuum chucks and the second vacuum chucks are connected with the vacuum pump through vacuum pipelines, and the first vacuum chucks and the second vacuum chucks are used for sucking steel plates;
the stroke mechanism and the grabbing mechanism are electrically connected with the controller.
In one possible embodiment, the method further comprises: a thickness sensor;
the thickness sensor is arranged on the grabbing bracket and used for detecting the thickness of the grabbed steel plate;
the thickness sensor with controller electric connection, the thickness sensor with the thickness signal transmission who detects send to the controller, the controller is used for receiving the thickness signal that the thickness sensor sent.
In one possible embodiment, the method further comprises: the device comprises a front flattening mechanism, a rear flattening mechanism, a left flattening mechanism and a right flattening mechanism;
the front clapping mechanism, the rear clapping mechanism, the left clapping mechanism and the right clapping mechanism are arranged on the grabbing bracket;
the front clapping mechanism comprises: the front beat cylinder and the front side plate are leveled;
the front side plate is connected with the front leveling cylinder and is used for leveling the front side surface of the steel plate;
the front leveling cylinder is electrically connected with the controller, and the controller is used for controlling the front leveling cylinder to stretch;
the back clapping mechanism comprises: the back clapping cylinder and the back side plate;
the rear side plate is connected with the rear leveling cylinder and is used for leveling the rear side surface of the steel plate;
the rear leveling cylinder is electrically connected with the controller, and the controller is used for controlling the stretching of the rear leveling cylinder;
the left clapping mechanism comprises: the left clapping cylinder and the left side plate;
the left side plate is connected with the left leveling cylinder and is used for leveling the left side surface of the steel plate;
the left leveling cylinder is electrically connected with the controller, and the controller is used for controlling the stretching of the left leveling cylinder;
the right clapping mechanism comprises: the right clapping cylinder and the right side plate;
the right side plate is connected with the right leveling cylinder and is used for leveling the right side surface of the steel plate;
the right clapping cylinder is electrically connected with the controller, and the controller is used for controlling the stretching of the right clapping cylinder.
In one possible embodiment, the method further comprises: an air pump and a plurality of air nozzles;
the air pump is arranged on the grabbing bracket;
the plurality of gas nozzles correspond to the plurality of vacuum suckers and are arranged on the grabbing bracket, and are connected with the air pump through gas pipelines and used for sweeping the surface of the steel plate;
the air pump with controller electric connection, the controller is used for controlling opening and close of air pump.
In one possible embodiment, the method further comprises: a photoelectric sensor;
the photoelectric sensor is arranged on the distraction bracket;
the photoelectric sensor is electrically connected with the controller, and the controller is used for receiving a sensing signal of the photoelectric sensor.
In one possible solution, the vacuum line comprises: a main vacuum pipe and a plurality of branch vacuum pipes;
the vacuum main pipe is connected with the vacuum pump;
one ends of the plurality of vacuum branch pipes are connected with the vacuum main pipe in a parallel mode;
the plurality of vacuum chucks are respectively connected with the other ends of the plurality of vacuum branch pipes.
In a possible scheme, the vacuum main pipe is provided with a one-way valve and an energy accumulator.
In one possible embodiment, the plurality of vacuum branch pipes are each provided with a control valve.
In one possible embodiment, vacuum filters are provided on both the main vacuum pipe and the branch vacuum pipe.
In a feasible scheme, a vacuum pressure sensor is arranged on the vacuum main pipe;
the vacuum pressure sensor is electrically connected with the controller.
According to the above scheme, the utility model discloses a last unloading system of manipulator for elevator seat steel sheet snatchs through setting up travel mechanism, snatching mechanism and controller, snatchs the mechanism and is connected with travel mechanism, and travel mechanism drives and snatchs about the mechanism and control, and travel mechanism and snatch the mechanism all with controller electric connection. Snatch the mechanism and include: snatch support, branch cylinder, branch support, vacuum pump and vacuum chuck, the setting of branch cylinder is on snatching the support, and the setting of branch support is being snatched the one end of support, is connected with the expansion end of branch cylinder, and vacuum chuck sets up on snatching the support and dividing the support to be connected with the vacuum pump through vacuum line. The utility model discloses a feeding system on manipulator for elevator seat steel sheet snatchs, by programmable controller control, adsorb the last unloading of snatching the steel sheet and accomplishing the steel sheet through vacuum chuck, production efficiency is improved, and the expanding cylinder stretches out earlier when snatching the steel sheet and makes the branch prop up, vacuum chuck on the branch prop drives one side perk of steel sheet, separately between the steel sheet of snatching and the lower floor steel sheet, then snatch the support and wholly rise, make and snatch the mechanism and only snatch a steel sheet at every turn, guarantee the steel sheet and move safely when removing.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic perspective view of a manipulator feeding and discharging system for grabbing an elevator seat steel plate in an embodiment of the present invention;
fig. 2 is an enlarged view of a point a in fig. 1 in an embodiment of the present invention;
fig. 3 is a schematic top view of a gripping mechanism of a manipulator feeding and discharging system for gripping an elevator seat steel plate according to an embodiment of the present invention;
fig. 4 is an enlarged view of a portion B in fig. 3 according to an embodiment of the present invention;
fig. 5 is a schematic view of a vacuum pipeline of a manipulator feeding and discharging system for elevator seat steel plate grabbing in an embodiment of the present invention;
fig. 6 is a control schematic diagram of the controller of the manipulator feeding and discharging system for elevator seat steel plate grabbing in the embodiment of the present invention.
Reference numbers in the figures:
11. a first cross member; 12. a slider; 13. a stringer; 2. a grabbing mechanism; 21. grabbing the bracket; 211. a second cross member; 212. a plurality of connecting rods; 22. a split cylinder; 23. a separating bracket; 24. a vacuum pump; 25. a vacuum chuck; 251. a first vacuum chuck; 252. a second vacuum chuck; 26. a vacuum line; 2601. a vacuum filter; 261. a vacuum main pipe; 2611. a one-way valve; 2612. an accumulator; 2613. a vacuum pressure sensor; 262. a vacuum branch pipe; 2621. a control valve; 3. a thickness sensor; 41. a front clapping mechanism; 411. a front flap cylinder; 412. a front side plate; 42. a back clapping mechanism; 421. a back patting cylinder; 422. a rear side plate; 43. a left clapping mechanism; 431. a left clapping cylinder; 432. a left side plate; 44. a right clapping mechanism; 441. a right clapping cylinder; 442. a right side plate; 51. an air pump; 52. a gas showerhead; 6. a photoelectric sensor;
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.
In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as a fixed connection, a detachable connection, or an integral part; the connection can be mechanical connection, electrical connection or communication connection; either directly or indirectly through intervening media, either internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The technical solution of the present invention will be described in detail with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 is the embodiment of the utility model provides a three-dimensional schematic diagram of unloading system on manipulator for elevator seat steel sheet snatchs, fig. 2 is the embodiment of the utility model provides an in 1 the enlarger of a department, fig. 3 is the embodiment of the utility model provides an in the manipulator for elevator seat steel sheet snatchs go up the mechanism of grabbing of unloading system overlook the schematic diagram, fig. 4 is the embodiment of the utility model provides an in 3 the enlarger of B department, fig. 5 is the embodiment of the utility model provides an in the manipulator for elevator seat steel sheet snatchs go up the vacuum pipeline's of unloading system on manipulator schematic diagram, fig. 6 is the embodiment of the utility model provides an in the embodiment for the control schematic diagram of the controller of the manipulator. As shown in fig. 1 to 6, the manipulator loading and unloading system for grabbing elevator seat steel plates of the embodiment includes: a stroke mechanism, a grabbing mechanism 2 and a controller.
The stroke mechanism includes: the device comprises a stroke support, a first cross beam 11, a horizontal moving mechanism and a lifting mechanism.
A stroke support (not shown) is fixedly arranged for supporting the first beam 11, and the first beam 11 is horizontally arranged on the stroke support.
The horizontal movement mechanism includes: a slide 12 and a horizontal motor.
The sliding block 12 is movably arranged on the first cross beam 11, a horizontal motor (not shown in the figure) is in transmission connection with the sliding block 12 through a horizontal transmission mechanism, and the sliding block 12 is driven by the rotation of the horizontal motor to horizontally move left and right along the first cross beam 11.
The lifting mechanism comprises: a longitudinal beam 13 and a lifting motor.
The longitudinal beam 13 is vertically arranged, the longitudinal beam 13 is movably arranged on the sliding block 12, and the sliding block 12 drives the longitudinal beam 13 to move left and right together when moving left and right. The lifting motor (not shown in the figure) is in transmission connection with the longitudinal beam 13 through a vertical transmission mechanism, and the rotation of the lifting motor drives the longitudinal beam 13 to move up and down relative to the sliding block 12.
Horizontal drive mechanism and perpendicular drive mechanism in this embodiment can realize through gear and linear rack mutually supporting, and the motor drives the gear and rotates, and linear rack and gear engagement set up, and the rotation of gear drives linear rack and is linear motion. The horizontal transmission mechanism and the vertical transmission mechanism can be realized by mutually matching a sliding block and a screw rod, the motor drives the screw rod to rotate, the sliding block is meshed on the screw rod through internal threads, and the sliding block is driven by the rotation of the screw rod to do linear motion along the screw rod. The horizontal transmission mechanism and the vertical transmission mechanism are widely used in the prior art, which is the prior art for those skilled in the art, and the embodiment will not be described in detail here.
The grabbing mechanism 2 is arranged at the bottom end of the longitudinal beam 13 and is fixedly connected with the longitudinal beam 13 through a connecting piece, and the longitudinal beam 13 moves up and down and moves left and right to drive the grabbing mechanism to move together.
The grasping mechanism 2 includes: the device comprises a grabbing bracket 21, a separating air cylinder 22, a separating bracket 23, a vacuum pump 24 and a vacuum suction cup 25.
The grasping bracket 21 includes: two second crossbeam 211 and many connecting rods 212, two second crossbeam 211 are parallel to each other the interval set up in the bottom of longeron 13, with longeron 13 fixed connection, and second crossbeam 211 sets up horizontally. The connecting rods 212 are detachably connected to the second cross beams 211 at intervals through connecting pieces, the connecting rods 212 are also horizontally arranged, and the connecting rods 212 and the two second cross beams 211 form the grabbing support 21 in the shape of a Chinese character jing.
The vacuum pump 24 is fixedly arranged on the gripping bracket 21.
The vacuum chuck 25 is provided in plurality, and the vacuum chuck 25 includes: a plurality of first vacuum cups 251 and a plurality of second vacuum cups 252.
The plurality of first vacuum chucks 251 are equally divided into two groups, the two groups of first vacuum chucks 251 are respectively arranged at two ends of the connecting rod 212 of the gripping bracket 21 in a mirror symmetry manner, and the first vacuum chucks 251 are located at the bottom of the connecting rod 212. In this embodiment, the first vacuum chuck 251 is detachably connected to the connecting rod 212 through a connecting member, so as to facilitate the installation and position adjustment of the first vacuum chuck 251.
The branch cylinder 22 is fixedly arranged on the grabbing bracket 21 and is positioned at the end part of one end of the second cross beam 211 of the grabbing bracket 21.
The branch frame 23 is arranged at the end part of one end of the grabbing frame 21, the branch frame 23 is connected with the movable end of the branch cylinder 22, and the extension of the movable end of the branch cylinder 22 drives the branch frame 23 to lift.
The plurality of second vacuum chucks 252 are arranged on the separating support 23 at intervals and located at the bottom of the separating support 23, and the second vacuum chucks 252 are driven to lift by the lifting of the separating support 23. The second vacuum chuck 252 is detachably connected to the distraction bracket 23 via a connecting member, so that the second vacuum chuck 252 can be conveniently mounted and positionally adjusted.
The plurality of first vacuum suction cups 251 and the plurality of second vacuum suction cups 252 are hermetically connected with the vacuum pump 24 through the vacuum pipeline 26, and vacuum is drawn by the vacuum pump 24, so that negative pressure is generated in the plurality of first vacuum suction cups 251 and the plurality of second vacuum suction cups 252 to grab (suck) the steel plate.
The stroke mechanism and the grabbing mechanism 2 are both electrically connected with the controller, and the controller controls the stroke mechanism and the grabbing mechanism to execute corresponding preset actions according to preset programs so as to grab and put down the steel plate.
Through the above, it is not difficult to find that the manipulator feeding and discharging system for grabbing the elevator seat steel plate of the embodiment is characterized in that the grabbing mechanism is connected with the stroke mechanism by arranging the stroke mechanism, the grabbing mechanism and the controller, the stroke mechanism drives the grabbing mechanism to move up and down and left and right, and the stroke mechanism and the grabbing mechanism are electrically connected with the controller. Snatch the mechanism and include: snatch support, branch cylinder, branch support, vacuum pump and vacuum chuck, the setting of branch cylinder is on snatching the support, and the setting of branch support is being snatched the one end of support, is connected with the expansion end of branch cylinder, and vacuum chuck sets up on snatching the support and dividing the support to be connected with the vacuum pump through vacuum line. The last unloading system of manipulator for elevator seat steel sheet snatchs of this embodiment, by programmable controller control, adsorb the last unloading of snatching the steel sheet and accomplishing the steel sheet through vacuum chuck, production efficiency has been improved, and open the cylinder when snatching the steel sheet stretches out earlier and make the branch support rise, vacuum chuck on the branch support drives one side perk of steel sheet, part between the steel sheet of snatching and the lower floor steel sheet, then snatch the support and wholly rise, make and snatch the mechanism and only snatch a steel sheet at every turn, guarantee the steel sheet safe operation when removing.
Optionally, the manipulator feeding and discharging system for grabbing the elevator seat steel plate in this embodiment further includes: a thickness sensor 3.
The thickness sensor 3 is arranged on the grabbing bracket 21 and used for detecting the thickness of the steel plate grabbed by the grabbing mechanism 2.
The thickness sensor 3 in this embodiment may be one of an ultrasonic thickness gauge and an isotope thickness gauge, and is commercially available. The ultrasonic thickness gauge can be reflected when the ultrasonic wave is transmitted in a medium and meets a second medium, the interval time from the transmission to the reception of the ultrasonic pulse is measured, the interval time can be converted into the thickness, and the thickness of the steel plate is measured. The isotope thickness gauge can measure the thickness of the steel plate by utilizing the principle that different thicknesses of substances absorb and scatter radiation differently. The thickness sensor 3 will detect the thickness signal of the steel plate that snatchs mechanism 2 snatched and send to the controller, and when the thickness of the steel plate that snatchs mechanism 2 snatched was obviously greater than a steel plate thickness, the controller control snatchs mechanism 2 and puts down the steel plate after snatching the steel plate again to ensure that snatch mechanism 2 snatchs a steel plate, guarantee the absolute safety of steel plate in service.
Optionally, the manipulator feeding and discharging system for grabbing the elevator seat steel plate in this embodiment further includes: a front clapping mechanism 41, a rear clapping mechanism 42, a left clapping mechanism 43 and a right clapping mechanism 44.
The front clapping mechanism 41, the rear clapping mechanism 42, the left clapping mechanism 43 and the right clapping mechanism 44 are all arranged on the grabbing bracket 21.
The front clapping mechanism 41 includes: a front flap cylinder 411 and a front side plate 412.
The front patting cylinder 411 is fixedly arranged on the grabbing support 21, the front side plate 412 is vertically arranged, the top of the front side plate 412 is connected with the movable end of the front patting cylinder 411, the front side plate 412 is driven to be close to and far away from the front side surface of the steel plate by the telescopic movement of the movable end of the front patting cylinder 411, and when the front side plate 412 is driven to be close to the front side surface of the steel plate by the front patting cylinder 411, the front side surface of the steel plate is patted, so that the front side surfaces of the steel plates stacked in multiple layers are located on the same vertical plane. Preferably, two front clapping mechanisms 41 are arranged, and the two front clapping mechanisms 41 are arranged at intervals along the length direction of the steel plates, so that the verticality of the front side surfaces of the stacked steel plates after being clapped by the front clapping mechanisms 41 is ensured.
The front flap cylinder 411 is electrically connected to a controller, and the controller controls the front flap cylinder 412 to extend or retract, that is, controls the front side plate 412 to flap the front side of the steel plate.
The rear clapping mechanism 42 includes: a back flap cylinder 421 and a back plate 422.
The back clapping cylinder 421 is fixedly arranged on the grabbing support 21, the back side plate 422 is vertically arranged, the top of the back side plate 422 is connected with the movable end of the back clapping cylinder 421, the telescopic movement of the movable end of the back clapping cylinder 421 drives the back side plate 422 to be close to and far away from the back side surface of the steel plate, when the back side plate 422 is close to the back side surface of the steel plate under the driving of the back clapping cylinder 421, the back side surface of the steel plate is clapped, and the back side surfaces of the steel plates stacked in multiple layers are located on the same vertical plane. Preferably, there are two rear clapping mechanisms 42, and the two rear clapping mechanisms 42 are arranged at intervals along the length direction of the steel plate to ensure the verticality of the rear side of the clapped steel plate.
The back clapping cylinder 421 is electrically connected to the controller, and the controller controls the back clapping cylinder 421 to extend and retract, namely, controls the back side plate 422 to clap the back side of the steel plate.
The left clapping mechanism 43 includes: a left clapper cylinder 431 and a left side plate 432.
The left patting cylinder 431 is fixedly arranged on the grabbing support 21, the left side plate 432 is vertically arranged, the top of the left side plate 432 is connected with the movable end of the left patting cylinder 431, the telescopic movement of the movable end of the left patting cylinder 431 drives the left side plate 432 to be close to and far away from the left side surface of the steel plate, when the left side plate 432 is close to the left side surface of the steel plate under the driving of the left patting cylinder 431, the left side surface of the steel plate is patted, and the left side surface of the steel plate stacked in multiple layers is located on the same vertical plane.
The left patting cylinder 431 is electrically connected with the controller, and the controller controls the stretching of the left patting cylinder 431, namely, controls the patting of the left side plate 432 on the left side surface of the steel plate.
The right clapping mechanism 44 includes: a right clapping cylinder 441 and a right side plate 442.
The right clapping cylinder 441 is fixedly arranged on the grabbing bracket 21, the right side plate 442 is vertically arranged, the top of the right side plate 442 is connected with the movable end of the right clapping cylinder 441, the movable end of the right clapping cylinder 441 stretches to drive the right side plate 442 to be close to and away from the right side surface of the steel plate, and when the right side plate 442 is driven by the right clapping cylinder 441 to be close to the right side surface of the steel plate, the right side surface of the steel plate is clapped, so that the right side surfaces of the steel plates stacked in multiple layers are located on the same vertical plane.
The right clapping cylinder 441 is electrically connected with the controller, and the controller controls the expansion and contraction of the right clapping cylinder 441, namely controls the clapping of the right side plate 442 to the right side surface of the steel plate.
Because a plurality of captured steel plates are stacked together, in the implementation, the front and rear sides and the left and right sides of the steel plates stacked in multiple layers are flapped by the front flattening mechanism 41, the rear flattening mechanism 42, the left flattening mechanism 43 and the right flattening mechanism 44, so that the front and rear sides and the left and right sides of the steel plates are always positioned on the same vertical plane, the positions of the steel plates captured by the capturing mechanisms 2 at each time are the same, correspondingly, the positions of the steel plates when the steel plates are put down are also fixed, the steel plates can be conveniently cut by subsequent cutting processes, and the cutting precision of the steel plates is ensured.
Optionally, the manipulator feeding and discharging system for grabbing the elevator seat steel plate in this embodiment further includes: an air pump 51 and a plurality of air jets 52.
The air pump 51 is fixedly arranged on the grabbing bracket 21.
The plurality of showerhead 52 corresponds to the plurality of vacuum chucks 25, i.e., to the sum of the plurality of first vacuum chucks 251 and the plurality of second vacuum chucks 252. The air nozzles 52 are provided on the gripper brackets 21, respectively on one side of the corresponding vacuum cups 25, via elastic hoses. The plurality of gas nozzles 52 are hermetically connected to the gas pump 51 through gas lines 53, respectively. In this embodiment, produce pressure air through air pump 51, pressure air carries to air nozzle 52 through gas pipeline 53, before vacuum chuck 25 adsorbs the steel sheet, blows the clearance to the surface of steel sheet, and the leakproofness when guaranteeing vacuum chuck 25 and adsorbing the steel sheet also guarantees that vacuum chuck 25 is not damaged by the iron fillings of remaining on the steel sheet surface, extension vacuum chuck 25's life.
The air pump 51 is electrically connected with the controller, and the controller controls the opening and closing of the air pump 51, namely controls the blowing and cleaning of the surface of the steel plate.
Optionally, the manipulator feeding and discharging system for grabbing the elevator seat steel plate in this embodiment further includes: and a photoelectric sensor 6.
The photoelectric sensor 6 is located at one end of the gripping bracket 21. Is arranged on the tension dividing bracket 23.
The photoelectric sensor 6 is electrically connected with a controller, and the controller is used for receiving a sensing signal of the photoelectric sensor 6.
Alternatively, as shown in fig. 5, in the present embodiment, the vacuum line 26 includes: a main vacuum pipe 261 and a plurality of branch vacuum pipes 262.
The main vacuum pipe 261 is a seal pipe, and is hermetically connected to the vacuum pump 24.
The vacuum main pipe 261 is provided with a plurality of air outlets, and the air outlets on the vacuum main pipe 261 are provided with connectors.
A plurality of vacuum branch pipes 262 are connected to the vacuum main pipe 261 in parallel. One end of each of the plurality of vacuum branch pipes 262 is hermetically connected to a connector of the main vacuum pipe 261, and one end of each of the plurality of vacuum branch pipes 262 is hermetically connected to the vacuum chuck 25, that is, the plurality of first vacuum chucks 251 and the plurality of second vacuum chucks 252 are hermetically connected to the other end of each of the plurality of vacuum branch pipes 262.
Further, in this embodiment, the vacuum main pipe 261 is provided with a check valve 2611 and an energy accumulator 2612. When the system has power failure, such as power failure, the one-way valve 2611 automatically shuts off the passage between the vacuum pump 24 and the atmosphere, locks the vacuum energy of the energy accumulator 2612, provides sufficient pressure maintaining time for the vacuum chuck 25, ensures that the steel plate absorbed by the vacuum chuck 25 does not drop suddenly, and ensures production safety.
Further, in this embodiment, a plurality of vacuum branch pipes 262 are provided with control valves 2621. The control valve 2621 on the vacuum manifold 262 is a solenoid valve or a manual valve. When the control valve 2621 is an electromagnetic valve, the electromagnetic valve is electrically connected with the controller, and the controller controls the opening and closing of the electromagnetic valve; when the control valve 2621 is a manual valve, the opening and closing of the control valve is manually controlled. The control valve 2621 is disposed on the vacuum branch pipe 262, so that unnecessary vacuum chucks can be closed when a small-sized steel plate is grasped, and the airtightness of the vacuum system can be conveniently detected.
Further, in this embodiment, the vacuum main pipe 261 and the vacuum branch pipe 262 are provided with vacuum filters 2601.
The vacuum filter 2601 is arranged on the main vacuum pipe 261 and the branch vacuum pipe 262, and the impurities and particles on the surface of the steel plate or in the air are filtered by the vacuum filter 2601, so that when the vacuum pump 24 works, the impurities and particles are prevented from being sucked into the vacuum pump 24 to damage the vacuum pump, and the service life of the vacuum pump is prolonged.
Further, in this embodiment, a vacuum pressure sensor 2613 is disposed on the vacuum main pipe 261, and the vacuum pressure sensor 2613 is electrically connected to the controller.
The vacuum pressure sensor 2613 detects the vacuum pressure in the vacuum main pipe 261, and sends the vacuum pressure signal to the controller, and the controller receives the vacuum pressure signal that vacuum pressure sensor 2613 sent, and to the operator audio-visual display vacuum pressure of vacuum main pipe, and when the pressure of vacuum system is not enough, the controller sends alarm signal to alarm system, and alarm system sends audible and visual alarm signal.
It should be noted that, in order to make the drawings clearer, in fig. 1 of the drawings, not all of the vacuum branch pipes connected to the vacuum chuck are shown, and not all of the showerhead is shown. In FIG. 5 of the drawings attached to the specification, not all of the vacuum branch pipes connected to the main vacuum pipe are shown.
The utility model discloses a go up unloading system for snatching steel sheet, by PLC programmable controller control, its working process is: after the system is started, self-checking is carried out, and the grabbing mechanism returns to the original position; starting a vacuum system, starting a grabbing mechanism to descend, starting each leveling mechanism to level the front side surface, the rear side surface, the left side surface and the right side surface of the stacked steel plates, and sending a signal by a proximity switch arranged on a vacuum sucker when the vacuum sucker is contacted with the steel plates, so that the grabbing mechanism stops running downwards; sucking the steel plate by the vacuum chuck, and delaying for 1 second to ensure that the steel plate is firmly sucked by the vacuum chuck; the separating cylinder extends out to drive the separating support to ascend, so that one side of the steel plate is tilted, then the grabbing mechanism moves upwards, and the vertical upper limit switch stops moving upwards after being closed; the grabbing mechanism transversely and horizontally moves, and when the grabbing mechanism transversely moves to a limit switch in the horizontal direction, the grabbing mechanism stops transversely moving; the grabbing mechanism longitudinally moves downwards, when the grabbing mechanism contacts the working table, the grabbing mechanism stops descending, the vacuum gas circuit is switched and delays for one second, and the vacuum between the steel plate and the vacuum sucker disappears; the grabbing mechanism moves upwards, and stops moving upwards after the vertical upper limit switch is closed; after the steel plate is cut, the grabbing mechanism repeatedly descends to suck the cut steel plate and moves the steel plate to the finished product platform, after the steel plate is placed on the finished product platform, the grabbing mechanism moves to the original position, and the process is repeated.
In the present application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first feature or the second feature or indirectly contacting the first feature or the second feature through an intermediate.
Also, a first feature "on," "above," and "over" a second feature may mean that the first feature is directly above or obliquely above the second feature, or that only the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lower level than the second feature.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples," or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. The utility model provides a unloading system in manipulator for elevator seat steel sheet snatchs which characterized in that includes: the device comprises a stroke mechanism, a grabbing mechanism and a controller;
the stroke mechanism includes: the device comprises a stroke support, a first cross beam, a horizontal moving mechanism and a lifting mechanism;
the first cross beam is horizontally arranged on the stroke support;
the horizontal movement mechanism includes: a slide block and a horizontal motor;
the sliding block is movably arranged on the first cross beam, and the horizontal motor is used for driving the sliding block to move along the first cross beam;
the lifting mechanism comprises: a longitudinal beam and a lifting motor;
the longitudinal beam is movably arranged on the sliding block, and the lifting motor is used for driving the longitudinal beam to move up and down relative to the sliding block;
the grabbing mechanism is arranged at the bottom end of the longitudinal beam;
the grabbing mechanism comprises: the device comprises a grabbing bracket, a separating cylinder, a separating bracket, a vacuum pump and a plurality of vacuum suckers;
the vacuum pump is arranged on the grabbing bracket;
the plurality of vacuum chucks comprises: a plurality of first vacuum chucks and a plurality of second vacuum chucks;
the plurality of first vacuum suction cups are arranged at the bottom of the grabbing bracket;
the separating cylinder is arranged on the grabbing bracket;
the separating support is arranged at one end of the grabbing support and is connected with the movable end of the separating cylinder, and the separating cylinder is used for driving the separating support to lift;
the second vacuum chucks are arranged at the bottom of the separating bracket and lift along with the separating bracket;
the first vacuum chucks and the second vacuum chucks are connected with the vacuum pump through vacuum pipelines, and the first vacuum chucks and the second vacuum chucks are used for sucking steel plates;
the stroke mechanism and the grabbing mechanism are electrically connected with the controller.
2. The robotic loading and unloading system for elevator seat steel plate grabbing of claim 1, further comprising: a thickness sensor;
the thickness sensor is arranged on the grabbing bracket and used for detecting the thickness of the grabbed steel plate;
the thickness sensor with controller electric connection, the thickness sensor with the thickness signal transmission who detects send to the controller, the controller is used for receiving the thickness signal that the thickness sensor sent.
3. The robotic loading and unloading system for elevator seat steel plate grabbing of claim 1, further comprising: the device comprises a front flattening mechanism, a rear flattening mechanism, a left flattening mechanism and a right flattening mechanism;
the front clapping mechanism, the rear clapping mechanism, the left clapping mechanism and the right clapping mechanism are arranged on the grabbing bracket;
the front clapping mechanism comprises: the front beat cylinder and the front side plate are leveled;
the front side plate is connected with the front leveling cylinder and is used for leveling the front side surface of the steel plate;
the front leveling cylinder is electrically connected with the controller, and the controller is used for controlling the front leveling cylinder to stretch;
the back clapping mechanism comprises: the back clapping cylinder and the back side plate;
the rear side plate is connected with the rear leveling cylinder and is used for leveling the rear side surface of the steel plate;
the rear leveling cylinder is electrically connected with the controller, and the controller is used for controlling the stretching of the rear leveling cylinder;
the left clapping mechanism comprises: the left clapping cylinder and the left side plate;
the left side plate is connected with the left leveling cylinder and is used for leveling the left side surface of the steel plate;
the left leveling cylinder is electrically connected with the controller, and the controller is used for controlling the stretching of the left leveling cylinder;
the right clapping mechanism comprises: the right clapping cylinder and the right side plate;
the right side plate is connected with the right leveling cylinder and is used for leveling the right side surface of the steel plate;
the right clapping cylinder is electrically connected with the controller, and the controller is used for controlling the stretching of the right clapping cylinder.
4. The robotic loading and unloading system for elevator seat steel plate grabbing of claim 1, further comprising: an air pump and a plurality of air nozzles;
the air pump is arranged on the grabbing bracket;
the plurality of gas nozzles correspond to the plurality of vacuum suckers and are arranged on the grabbing bracket, and are connected with the air pump through gas pipelines and used for sweeping the surface of the steel plate;
the air pump with controller electric connection, the controller is used for controlling opening and close of air pump.
5. The robotic loading and unloading system for elevator seat steel plate grabbing of claim 1, further comprising: a photoelectric sensor;
the photoelectric sensor is arranged on the distraction bracket;
the photoelectric sensor is electrically connected with the controller, and the controller is used for receiving a sensing signal of the photoelectric sensor.
6. The robotic loading and unloading system for elevator seat steel sheet grabbing according to claim 1, wherein the vacuum line comprises: a main vacuum pipe and a plurality of branch vacuum pipes;
the vacuum main pipe is connected with the vacuum pump;
one ends of the plurality of vacuum branch pipes are connected with the vacuum main pipe in a parallel mode;
the plurality of vacuum chucks are respectively connected with the other ends of the plurality of vacuum branch pipes.
7. The manipulator loading and unloading system for elevator seat steel plate grabbing of claim 6, wherein the vacuum main pipe is provided with a one-way valve and an energy accumulator.
8. The robotic loading and unloading system for elevator seat steel plate grabbing according to claim 6, wherein control valves are provided on each of the plurality of vacuum branch pipes.
9. The robotic loading and unloading system for elevator seat steel plate grabbing according to claim 6, wherein vacuum filters are arranged on the main vacuum pipe and the branch vacuum pipes.
10. The manipulator loading and unloading system for elevator seat steel plate grabbing of claim 6, wherein a vacuum pressure sensor is arranged on the vacuum main pipe;
the vacuum pressure sensor is electrically connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920879684.5U CN210231965U (en) | 2019-06-12 | 2019-06-12 | Manipulator feeding and discharging system for grabbing elevator seat steel plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920879684.5U CN210231965U (en) | 2019-06-12 | 2019-06-12 | Manipulator feeding and discharging system for grabbing elevator seat steel plate |
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| Publication Number | Publication Date |
|---|---|
| CN210231965U true CN210231965U (en) | 2020-04-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920879684.5U Active CN210231965U (en) | 2019-06-12 | 2019-06-12 | Manipulator feeding and discharging system for grabbing elevator seat steel plate |
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| Country | Link |
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| CN (1) | CN210231965U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110076467A (en) * | 2019-06-12 | 2019-08-02 | 上海华美电梯装饰有限公司 | A kind of manipulator loading and unloading system taken for elevator seat plate grab |
| CN112060360A (en) * | 2020-07-27 | 2020-12-11 | 福建盛达机器股份公司 | Numerical control stone cutting machine, cutting tool bit and control method thereof |
-
2019
- 2019-06-12 CN CN201920879684.5U patent/CN210231965U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110076467A (en) * | 2019-06-12 | 2019-08-02 | 上海华美电梯装饰有限公司 | A kind of manipulator loading and unloading system taken for elevator seat plate grab |
| CN110076467B (en) * | 2019-06-12 | 2024-03-26 | 上海华美电梯装饰有限公司 | A unloading system on manipulator for elevator seat steel sheet snatchs |
| CN112060360A (en) * | 2020-07-27 | 2020-12-11 | 福建盛达机器股份公司 | Numerical control stone cutting machine, cutting tool bit and control method thereof |
| CN112060360B (en) * | 2020-07-27 | 2022-08-12 | 福建盛达机器股份公司 | Numerical control stone cutting machine, cutting tool bit and control method thereof |
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